ROBOTIQ HAND-E Instruction Manual

Original Notice © 2019. Robotiq, Inc.

Revisions 5 1. General Presentation 7 1.1. Gripper nomenclature 8 1.2. Object picking 10 1.3. Setup and control 11 2. Safety 12 2.1. Warning 13 2.2. Intended Use 13 3. Installation 14 3.1. Scope of Delivery 15 3.2. Required Tools and Equipment 16 3.3. Environmental and Operating Conditions 17 3.4. Mechanical Installation 18 3.5. Electrical Setup 22 4. Control 24 4.1. Overview 24 4.2. Gripper Register Mapping 26 4.3. Robot Output Registers and Functionalities 27 4.4. Robot Input Registers and Status 29 4.5. Picking Features 33 4.6. Control Logic Example 35 4.7. Modbus RTU Communication 35 5. Specifications 48 5.1. Technical dimensions 48 5.2. Mechanical Specifications 61 5.3. Electrical specifications 68 6. Maintenance 69 6.1. Gripper cleaning 70 6.2. Periodic inspection 71 6.3. Rack & pinion mechanism cleaning 72 7. Spare Parts, Kits and Accessories 73 3

8. Troubleshooting 76 8.1. Using the LED of the Hand-E gripper 76 8.2. Using the LED of the USB to RS485 converter 77 8.3. Using the Robotiq User Interface (RUI) 77 9. Warranty and Patent 78 10. Harmonized Standards, Declarations and Certificates 79 10.1. Translation of original EC declaration of incorporation 79 10.2. Applied standards 80 10.3. Ingress Protection Certificate 81 11. Contact 82 4

Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at robotiq.com/support. Revision 2019/12/19 l Official release 5

Copyright © 2019 Robotiq Inc. All rights reserved. This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying includes translation into another language or format. Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date. The information contained in this document is subject to change without notice. 6

The terms "Gripper", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in this manual are used interchangeably to designate the "Robotiq Hand-E Gripper". The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications. It is a unique robotic end-of-arm tool designed to quickly pick, place and handle parts in a broad range of sizes and shapes. Note This manual uses the metric system. Unless otherwise specified, all dimensions are in millimeters. Note The following section presents the key features of the Gripper and must not be considered as appropriate to Gripper operation, each feature is detailed in the appropriate section of the Manual. Safety guidelines must be read and understood before any operation is attempted with the Gripper. Robotiq Hand-E gripper Instruction Manual 7

1.1. Gripper nomenclature The Hand-E gripper is a parallel gripper. Its two fingers are actuated by a single motor. Fig. 1-1: Robotiq Hand-E gripper. Please refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional parts. The Hand-E basic gripper unit includes flat aluminum fingers overmolded with NBR. Note that these fingers are not shown in Figure 1.1: Robotiq Hand-E gripper. 8

The user can install fingers directly on the racks, or fasten fingertips to fingertip holders, which are in turn installed on the racks. Refer to the Mounting Hand-E on the Robot section for more information on how to integrate custom fingers and fingertips to Hand-E. Fig. 1-2: Mounting a finger on a rack. When ordered as a kit (please refer to the Scope of Delivery section), a fingertip starting kit is included (please refer to the Spare Parts, Kits and Accessories section). These fingertips should be mounted onto fingertip holders. Fig. 1-3: Mounting a fingertip on a fingertip holder (example). Tip You can customize fingers and fingertips. Mount custom fingers on racks, and fingertips on fingertip holders. 9

1.2. Object picking The Hand-E gripper has a single actuator for opening and closing the fingers. It also allows internal gripping. The fingers can pick hollow parts from the inside by applying pressure with the outer surface of the fingers. See the figure below for a representation and refer to the Picking Features section for details on avaible position commands for your gripper. Fig. 1-4: Hand-E gripper internal and external gripping. 10

1.3. Setup and control The Gripper is powered and controlled directly via a single device cable that carries a 24V DC supply and Modbus RTU communication over RS-485. Please refer to the Electrical Setup section for wiring information and to the Control section for control of the Gripper (software packages are available for control via some types of robot controllers). Info Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU over serial). A gripper coupling is required for using Hand-E; the coupling will provide mechanical and electrical connectivity. Please refer to the Mechanical Installation section for installation of the coupling, to the Technical dimensions section for technical drawings, and to the Spare Parts, Kits and Accessories section for available couplings. The Hand-E gripper has an embedded object detection feature using indirect sensing methods. When picking an object with the "go to" command, the Gripper status will allow you to know if an object is picked or not via a simple object detection bit (0 or 1). When an object is detected, the Gripper will stop. If the object is being dropped, the Gripper will automatically close to keep the object until the object is detected or until the position target from the "go to command" is reached. For details on object detection, please refer to the Control section. 11

Hand-E Gripper. Info The term "operator" refers to anyone responsible for any of the following operations on the Robotiq Hand-E Gripper: l Installation l Control l Maintenance l Inspection l Calibration l Programming l Decommissioning This documentation explains the various components of the Robotiq Hand-E Gripper and general operations regarding the whole lifecycle of the product from installation to operation and decommissioning. The drawings and photos in this documentation are representative examples; nonetheless, discrepancies may be observed between those and the delivered product. Robotiq Hand-E gripper Instruction Manual 12

2.1. Warning Info Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage. Warning l The Gripper needs to be properly secured before operating the robot. l Do not install or operate a Gripper that is damaged or lacking parts. l Never supply the Gripper with an alternative current source. l Make sure all cord sets are always secured at both ends, at the Gripper and at the robot. l Always meet the recommended keying for electrical connections. l Make sure no one is in the robot and/or Gripper path before initializing the robot's routine. l Always meet the Gripper's payload specifications. l Set the Gripper's pinch force and speed accordingly, based on your application. l Keep fingers and clothes away from the Gripper while the power is on. l Do not use the Gripper on people or animals. l For welding applications, make sure there are no Gripper parts on the ground path of the welding power source. Risk assessment and final application: The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, the Gripper and any other equipment used in the final application must be evaluated via a thorough risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are met. Depending on the application, there may be risks that require additional protection/safety measures; for example, the work-piece the Gripper is manipulating might be inherently dangerous to the operator. 2.2. Intended Use The Gripper unit is designed for gripping and temporarily securing or holding objects. The product is intended for installation on a robot or other automated machinery and equipment. Info Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety. The unit should be used exclusively within the range of its technical data. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use. 13

Warning Before installing: l Read and understand the safety instructions related to the Hand-E gripper. l Verify your package according to the scope of delivery and your order. l Have the required parts, equipment and tools listed in the requirements readily available. Warning When installing: l Meet the recommended environmental conditions. l Do not operate the gripper, or even turn on the power supply, before it is firmly anchored and the danger zone is cleared. The fingers of the gripper may move and cause injury or damage. Robotiq Hand-E gripper Instruction Manual 14

3.1. Scope of Delivery Caution The following is not included as part of a standard delivery: l Options such as adapter plates or couplings for mounting on various industrial robots, fingertips or finger pads. l Hardware required for options; accessories or fixtures for the Hand-E gripper, unless specified. l Power supply units, power supply wiring or fuses. 3.1.1. Robotiq Hand-E gripper Standard upon delivery l Robotiq Hand-E basic gripper unit: HND-GRP-001 l Hand-E Fingertip Starting Kit:: HND-TIP-START-KIT l USB to RS485 signal converter: ACC-ADT-USB-RS485 l Coupling for connection to the robot controller: GRP-CPL-062 Info See the Spare Parts, Kits and Accessories section section for a list of available couplings. l Robotiq device cable: CBL-COM-1065-10-HF Optional: l RS485 to RS232 signal converter: ACC-ADT-RS232-RS485 l Robotiq Universal Controller: UNI-CTR-XXXX 15

3.2. Required Tools and Equipment The following tools are required to install the Hand-E gripper: l 4 mm hex key to mount the Gripper onto its coupling . l Metric hex key according to your coupling to mount the coupling onto the robot. Optional tools if installing fingertip/holder kits: HND-FIN-ALU-KIT, HND-TIP-VGR-KIT, HND-TIP-HLD-KIT l 2,5 mm hex key The following parts are required for setup : l Power supply (see below). l Fuse, see information below. l Emergency stop is not provided, but its use is strongly advised. The gripper needs to be supplied by a DC voltage source. This power supply is not included with the gripper. Required power supply must match the Robotiq device. The following table shows the specifications with regards to the power supply required to operate the gripper and the optional Robotiq Controller. SPECIFICATION VALUE Output voltage 24 V DC ±10% Output current 1 A Overcurrent Recommended power supply with internal protection, otherwise fusing is required. 2 A fuse at 25°C [77°F]1 Table 3-1: Hand-E power supply requirements. 1 Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal, use AWG #20 wiring. Warning If your power supply could exceed the specified regulation, over-voltage protection is required. Robotiq recommends the use of the following power supplies: l For the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply: DPP30-24. Tip Optional Robotiq Universal Controller can use the same power supply. 16

3.3. Environmental and Operating Conditions CONDITION VALUE Minimum storage temperature -30°C [-22°F] Maximum storage temperature 70°C [158°F] Minimum operating temperature -10°C [14°F] Maximum operating temperature 50°C [122°F] Humidity (non-condensing) 20-80% RH Maximum vibration (storage/transit) 5G Maximum vibration (operating) 2G IP Rating IP 67 Table 3-2: Environmental and operating conditions of the Hand-E gripper. 17

3.4. Mechanical Installation 3.4.1. Mounting Hand-E on the Robot Single Gripper Installation Instructions 1. If required, install the adapter plate on the robot tool flange. 2. Secure the gripper coupling on the robot wrist, and use the coupling dowel pin to align parts. 3. Secure Hand-E to coupling. Caution When no toothlock washer is present, lock screws in place using medium strength threadlocker. Grippers are secured to robots via a coupling designed for specific robot models. If no such coupling exists, you can machine a blank coupling on your own or Robotiq can support you in designing this custom coupling. Some couplings may require an additional adapter plate. To machine a custom coupling or adapter plate, see the Couplings section. For details on available couplings and adapter plates, see the Spare Parts, Kits and Accessories section. 18

Fig. 3-1: Mounting Hand-E with a coupling and an adapter plate, on a robot tool flange. Info The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6. 19

Multiple Grippers Installation Fig. 3-2: Dual Hand-E Gripper Configuration 20

3.4.2. Mounting fingers, fingertips and holders on Hand-E The figures below list the material needed to mount fingers or fingertips/holders onto the racks of the Hand-E gripper. Fig. 3-3: Mounting fingers on racks. Fig. 3-4: Mounting fingertips on holders, and holders on racks. 21

3.5. Electrical Setup Power and communication are established with the Hand-E gripper via a single device cable. The device cable provides a 24V power supply to the Gripper and enables serial RS485 communication to the robot controller. Info RS485 signals (485+, 485- and 485 GND) are isolated from the main 24V power supply. GND can be connected to any other ground reference as long as the voltage potential between the grounds does not exceed 250V. Grounding reference is at the user's discretion. 3.5.1. Electrostatic Discharge Safety Robotiq Hand-E Gripper is not ESD safe. If installed properly using the toothlock washers, the casing and internal mechanism are grounded through the screws used to mount the gripper on the coupling. The same is true for the coupling. For the Hand-E Gripper, the top part mounted on the casing using 6 screws, the fingertips and rails are isolated from the rest of the gripper. It is therefore not possible to discharge any electrostatic charge that would build up on the part through the gripper. 3.5.2. Pinout Interface The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface. 22

3.5.3. Coupling to Controller To connect a gripper to a network or robot controller via fieldbus communication, you can use the Robotiq Universal Controller . For details on the Robotiq Universal Controller, see its Instruction Manual on robotiq.com/support. Fig. 3-5: Robotiq Hand-E with pigtail cable and device cable wiring scheme. Tip To control robots for which no driver package is available, we recommend the Robotiq Universal Controller, which supports the following fieldbus communication protocols: l Modbus TCP l EtherNet IP l EtherCAT l PROFINET l DeviceNET l CANopen 23

4.1. Overview Tip To test various gripper features such as object detection and force control, use the Robotiq User Interface. To download it, go to robotiq.com/support, click on Select product > Hand-E Adaptive Gripper > [any robot brand] > Software > Robotiq User Interface > DOWNLOAD ZIP. Since the Robotiq Hand-E gripper has its own embedded controller, you can use high-level commands such as "Go to requested position" to control it. Info The operator can control force, speed, and position of gripper fingers. l Finger movement is always synchronized. l Finger movement is initiated via a single "Go to requested position" command. l Parallel or encompassing grip is performed automatically. l Object detection is built-in. Operator is notified after an object is picked once the "Go to" command has been initiated. l In case of emergency, auto-release is engaged (open or close). Robotiq Hand-E gripper Instruction Manual 24

Control using registers Grippers share their internal memory with a robot controller. One part of the memory is for the robot output; gripper functionalities. The other part of the memory is for the robot input; gripper status. Two types of actions are then available to a robot controller: 1. Write in the robot output registers to activate functionalities; 2. Read in the robot input registers to get the status of the Gripper. The Gripper Register Mapping section maps the registers used to control the Gripper or to read its status while the Robot Output Registers and Functionalities section will detail the output (write) register functions, and Robot Input Registers and Status section details the input (read) register status. The figure below is a representation of the memory and the control logic of the Gripper. For details, see the Control Logic Example section Fig. 4-1: Hand-E control logic overview 25

4.2. Gripper Register Mapping Caution Byte numbering starts at zero and not at 1 for the functionalities and status registers. Register Robot Output / Functionalities Robot Input / Status Byte 0 ACTION REQUEST GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED POSITION Byte 5 FORCE CURRENT Byte 6 to 15 RESERVED RESERVED Table 4-1: Registers of the Hand-E gripper. 26

4.3. Robot Output Registers and Functionalities 4.3.1. Register: ACTION REQUEST Address: Byte 0 Bits 7 6 5 4 3 2 1 0 Symbols Reserved rARD rATR rGTO Reserved rACT rACT First action to be made prior to any other actions; the rACT bit will activate the Gripper. Clear the rACT bit to reset the Gripper and clear any fault status. l 0x0 - Deactivate Gripper. l 0x1 - Activate Gripper (must stay on after activation routine is completed). Warning When setting rACT (rACT ==1), the Gripper will begin movement to complete its activation feature. Info Power loss will set rACT (rACT == 1); the rACT bit must then be cleared (rACT == 0), then set again to allow operation of the Gripper. Caution The rACT bit must stay on afterwards for any other action to be performed. rGTO The "Go To" action moves the Gripper fingers to the requested position using the configuration defined by the other registers, rGTO will engage motion while bytes 3, 4 and 5 will determine aimed position, force and speed. The only motions performed without the rGTO bit are activation and automatic release routines. l 0x0 - Stop. l 0x1 - Go to requested position. rATR Automatic Release routine action slowly opens the Gripper fingers until all motion axes reach their mechanical limits. After all motions are completed, the Gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit overrides all other commands excluding the activation bit (rACT). l 0x0 - Normal. l 0x1 - Emergency auto-release. 27

Caution The automatic release is meant to disengage the Gripper after an emergency stop of the robot. The automatic release is not intended to be used under normal operating conditions. Automatic release requires the rACT to be cleared (rACT == 0) then set (rACT == 1). rARD Auto-release direction. When auto-releasing, rARD commands the direction of the movement. The rARD bit should be set prior to or at the same time as the rATR bit, as the motion direction is set when the auto-release is initiated. l 0x0 - Closing auto-release l 0x1 - Opening auto-release 4.3.2. Register: GRIPPER OPTIONS Address: Byte 1 Bits 7 6 5 4 3 2 1 0 Symbol Reserved 4.3.3. Register: GRIPPER OPTIONS 2 Address: Byte 2 Bits 7 6 5 4 3 2 1 0 Symbol Reserved 4.3.4. Register: POSITION REQUEST Address: Byte 3 Bits 7 6 5 4 3 2 1 0 Symbol rPR This register is used to set the target position for the Gripper's fingers. The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops. For detailed finger trajectory, see section Specifications section. l 0x00 - Open position, with 50 mm opening l 0xFF - Closed l Opening / count: ≈0.2 mm for 50 mm stroke Info The activation will allow the Gripper to adjust to any fingers/fingertips. No matter what is the size and/or shape of the fingers/fingertips, 0 will always be fully opened and 245 fully closed, with a quasi-linear relationship between the two values. 28

4.3.5. Register: SPEED Address: Byte 4 Bits 7 6 5 4 3 2 1 0 Symbol rSP This register is used to set the Gripper closing or opening speed in real time, however, setting a speed will not initiate a motion. l 0x00 - Minimum speed l 0xFF - Maximum speed 4.3.6. Register: FORCE Address: Byte 5 Bits 7 6 5 4 3 2 1 0 Symbol rFR The force setting defines the final gripping force for the Gripper. The force will fix the maximum current sent to the motor . If the current limit is exceeded, the fingers stop and trigger an object detection notification. Please refer to the Picking Features section for details on force control. l 0x00 - Minimum force l 0xFF - Maximum force Info Register bytes 6 to 15 are reserved and should be set to 0. 4.4. Robot Input Registers and Status 4.4.1. Register: GRIPPER STATUS Address: Byte 0 Bits 7 6 5 4 3 2 1 0 Symbols gOBJ gSTA gGTO Reserved gACT gACT Activation status, echo of the rACT bit (activation bit). l 0x0 - Gripper reset. l 0x1 - Gripper activation. 29

gGTO Action status, echo of the rGTO bit (go to bit). l 0x0 - Stopped (or performing activation / automatic release). l 0x1 - Go to Position Request. gSTA Gripper status, returns the current status and motion of the Gripper fingers. l 0x00 - Gripper is in reset (or automatic release) state. See Fault Status if Gripper is activated. l 0x01 - Activation in progress. l 0x02 - Not used. l 0x03 - Activation is completed. gOBJ Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0. l 0x00 - Fingers are in motion towards requested position. No object detected. l 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected opening. l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected closing. l 0x03 - Fingers are at requested position. No object detected or object has been loss / dropped. Caution In some circumstances the object detection feature may not detect an object even if it is successfully grasped. For instance, picking up a thin object may be successful without the object detection status being triggered. In such applications, the "Fingers are at requested position" status of register gOBJ is sufficient to proceed to the next step of the routine. Tip Checking for the correct position of the fingers (byte 4), as well as object detection (byte 0, bit 6 & 7) before proceeding to the next step of a routine is a more reliable method than object detection or finger position alone. 4.4.2. Register: RESERVED Address: Byte 1 Bits 7 6 5 4 3 2 1 0 Symbol Reserved 30

4.4.3. Register: FAULT STATUS Address: Byte 2 Bits 7 6 5 4 3 2 1 0 Symbols kFLT gFLT gFLT Fault status returns general error messages that are useful for troubleshooting. Fault LED (red) is present on the Gripper chassis, LED can be blue, red or both and be solid or blinking. l 0x00 - No fault (solid blue LED) l Priority faults (solid blue LED) l 0x05 - Action delayed; the activation (re-activation) must be completed prior to perform the action. l 0x07 - The activation bit must be set prior to performing the action. Minor faults (solid red LED) l 0x08 - Maximum operating temperature exceeded (≥85 °C internally); let cool down (below 80 °C). l 0x09 - No communication during at least 1 second. Major faults (LED blinking red/blue) - Reset is required (rising edge on activation bit (rACT) needed). l 0x0A - Under minimum operating voltage. l 0x0B - Automatic release in progress. l 0x0C - Internal fault, contact [email protected] l 0x0D - Activation fault, verify that no interference or other error occurred. l 0x0E - Overcurrent triggered. l 0x0F - Automatic release completed. Info While booting, status LED will be solid blue/red. kFLT See your optional controller manual (input registers and status). 31

4.4.4. Register: POSITION REQUEST ECHO Address: Byte 3 Bits 7 6 5 4 3 2 1 0 Symbol gPR gPR Echo of the requested position for the Gripper, value between 0x00 and 0xFF. l 0x00 - Full opening. l 0xFF - Full closing. 4.4.5. Register: POSITION Address: Byte 4 Bits 7 6 5 4 3 2 1 0 Symbol gPO gPO Actual position of the Gripper obtained via the encoders, value between 0x00 and 0xFF. l 0x00 - Fully opened. l 0xFF - Fully closed. 4.4.6. Register: CURRENT Adress: Byte 5 Bits 7 6 5 4 3 2 1 0 Symbol gCU gCU The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA. Tip Built-in features like object detection and force control use the fingers' electrical current readings. The user does not need to create these features. 32

4.5. Picking Features As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes key features in object picking applications: l Force control l Re-grasp l Object detection l Object contact loss 4.5.1. Force control The gripping force is controlled via the rFR byte (please refer to the Robot Output Registers and Functionalities section).The Gripper behavior will change according to the rFR force requested. l rFR = 0 : Very fragile objects or deformable objects mode l Lowest force l Re-grasp feature is off l 1 rFR 255 : Solid & firm objects l High torque mode l Re-grasp feature is on 4.5.2. Re-Grasp Re-grasp feature is a built-in feature meant to prevent object lost due to slipping or inaccurate initial grip. The Re-grasp feature will allow the Gripper to initiate a movement when an object is slipping or dropped. When Re-grasping, the Gripper will attempt to close until it reaches the position request (rPR). l This feature is automatically set according to the force request rFR. Info Feature is off at force request rFR = 0, otherwise it is on. l Re-grasp will keep the position setting: l Finger motion will stop when rPR position is reached, even if there is no object. l Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost / dropped. Info While your initial settings for force and speed are not used for Re-grasp, they will never be eceeded to prevent damaging the part. 33

Caution The rOBJ status is cleared when a motion is detected. 4.5.3. Object detection When the Gripper grabs an object, the gOBJ status will allow you to know if contact with the object was successful. This is a built-in feature for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object detection feature will change the gOBJ status and can be used inside your robot program. As stated in the previous section: gOBJ: Only valid if gGTO = 1. l 0x00 - Fingers are in motion towards requested position. No object detected. l 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected. l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected. l 0x03 - Fingers are at requested position. No object detected or object has been lost / dropped. Example of contact detected with an object: 1. Set position, speed and force at maximum (full closing): a. rPR == 0xFF, rSP == 0xFF, rFR ==0xFF, 2. Set ''go to requested'' will initiate movement : a. rGTO == 0x01 3. Then object detection status will be "in motion" a. gOBJ == 0x00 4. Until an object is picked, object detection status will then be "stopped due to contact while closing" a. gOBJ == 0x02 5. The user can now assume it is holding the payload, and proceed to the next step. Example of contact lost with an object: 1. From the previous example, after an object is picked a. gOBJ == 0x02 2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost. 4.5.4. Brake engagement Hand-E is equipped with a brake that engages at the end of every gripper move, and disengages between moves. For instance, when fully closing on an object, the Gripper touches the object, activates the brake, and sends the object detection signal to the robot. 34

4.6. Control Logic Example Fig. 4-2: Example of Gripper control logic with corresponding registers. 4.7. Modbus RTU Communication The Gripper can be controlled by Modbus RTU directly with RS485 or over USB using the ACC-ADT-USB-RS485. This section is intended to provide guidelines for setting up a Modbus master that will adequately communicate with the Gripper. For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus over serial line specification and implementation guide available at: http://www.modbus.org/docs/Modbus_over_serial_line_V1_02.pdf. For debugging purposes, the reader is also invited to download one of many free Modbus scanners such as the CAS Modbus Scanner from Chipkin Automation Systems available at: http://www.store.chipkin.com/products/tools/cas-modbus-scanner. Info Modbus RTU is a communication protocol based on a Big Endian byte order. Therefore, the 16-bit register addresses are transmitted with the most significant byte first. However, the data port is in the case of Robotiq products based on the Little Endian byte order. As such, the data parts of Modbus RTU messages are sent with the less significant byte first. Tip Modbus RTU specifications and details can be found at www.modbus.org. 35

4.7.1. Connection Setup The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol. PROPRIETY DEFAULT VALUE Physical Interface RS-4851 Baud Rate2 115,200 bps Data Bits 8 Stop Bit2 1 Parity2 None Supported Functions Read Input Registers (FC04) Preset Multiple Registers (FC16) Master read & write multiple registers (FC23) Exception Responses Not supported Slave ID2 0x0009 (9) Robot Output / Gripper Input First Register 0x03E8 (1000) Robot Input / Gripper Output First Register 0x07D0 (2000) Termination Resistor2 120 ohms 1 Various converters are available in the Spare Parts, Kits and Accessories section. 2 These parameters can be adjusted using the Robotiq User Interface. Each register (word - 16 bits) of the Modbus RTU protocol is composed of 2 bytes (8 bits) from the Gripper. The first Gripper output Modbus register(0x07D0) is composed from the first 2 Robotiq Gripper bytes (byte 0 and byte 1). Info 200 Hz is the maximum speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send commands with a minimum delay of 5 ms between them. Info 120 Ohms termination resistor is already present on the converter and the Gripper. If multiple grippers are connected in parallel on the same RS485 cable, termination resistor must be set to OFF in communication parameters. 36

4.7.2. Read input registers (FC04) Function code 04 (FC04) is used for requesting the status of the Gripper analog input register. Examples of such data are Gripper status, object status, finger position, etc. Example of an FC04 read function: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, Fault Status and Position Request Echo. Request is: 09 04 07 D0 00 02 70 0E Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0002 Number of registers requested (2) 700E Cyclic Redundancy Check (CRC) 37

Response is: 09 04 04 E0 00 00 00 45 84 Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) E000 Content of register 07D0 0000 Content of register 07D1 4584 Cyclic Redundancy Check (CRC) 4.7.3. Preset multiple registers (FC16) Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are action request, speed, force, etc. Example of setting multiple registers FC16: This message requests to set position request, speed and force of the Gripper by setting register 0x03E9 (1002) and 0x03EA. Request is: 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E9 Address of the first register 0002 Number of registers written to 04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) 60E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA EC7C Cyclic Redundancy Check (CRC) 38

Response is: 09 10 03 E9 00 02 91 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E9 Address of the first register 0002 Number of written registers 9130 Cyclic Redundancy Check (CRC) 4.7.4. Master read and write multiple registers FC23 Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating gripper functionalities (robot output) simultaneously. Examples of such data are gripper status, object status, finger position, etc. Action requests are speed, force, etc. Example of reading and writing multiple registers FC23: This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Gripper Status, Object Detection, Fault Status and Position Request Echo. It also sets the position request, speed and force of the Gripper by writing to registers 0x03E9 (1001) and 0x03EA (1002). Request is: 09 17 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 2D 0C Bits Description 09 SlaveID 17 Function Code 23 (read and write multiple registers) 07D0 Address of the first requested register, read 0002 Number of registers requested (2), read 03E9 Address of the first register written to 0002 Number of registers written to (2) 04 Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes) 00E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA 2D0C Cyclic Redundancy Check (CRC) 39

Response is: 09 17 04 01 00 09 E6 F6 C1 Bits Description 09 SlaveID 17 Function Code 23 (read and write multiple registers) 04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes) 1000 Content of register 07D0 09E6 Content of register 07D1 F6C1 Cyclic Redundancy Check (CRC) Tip Response contents might change depending on gripper status. Info Gripper executes the input command ("write" command), executes one cycle of motion, updates the output, then returns the Modbus response read. 4.7.5. Modbus RTU example This section depicts the example from the Control Logic Example section, when programmed using the Modbus RTU protocol. The example is typical of a pick and place application. After activating the Gripper, the robot is moved to a pick-up location to grip an object. It moves again to a second location to release the gripped object. Step 1: Activation Request ( clear and set rACT) Request is (clear rAct): 09 10 03 E8 00 03 06 00 00 00 00 00 00 73 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of registers written to 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 0000 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate 40

Bits Description Gripper" 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 7330 Cyclic Redundancy Check (CRC) Response is: 09 10 03 E8 00 03 01 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Request is (set rAct): 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of registers written to 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 0100 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper" 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 72E1 Cyclic Redundancy Check (CRC) 41

Response is: 09 10 03 E8 00 03 01 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Step 2: Read Gripper status until the activation is completed Request is: 09 04 07 D0 00 01 30 0F Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0001 Number of registers requested (1) 85CF Cyclic Redundancy Check (CRC) Response (if the activation IS NOT completed): 09 04 02 11 00 54 A1 Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) 1100 Content of register 07D0 (GRIPPER STATUS = 0x11, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 1 for "Activation in progress" 54A 1 Cyclic Redundancy Check (CRC) 42

Response (if the activation IS completed): 09 04 02 31 00 4D 61 Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) 3100 Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 3 for "Activation is completed" 4D61 Cyclic Redundancy Check (CRC) Step 3: Move the robot to the pick-up location Step 4: Close gripper at full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of registers written to 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 0900 Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper", rGTO = 1 for "Go to Requested Position" 00FF Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0xFF): rPR = 255/255 for full closing of the Gripper FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force 4229 Cyclic Redundancy Check (CRC) 43

Response is: 09 10 03 E8 00 03 01 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Step 5: Read Gripper status until the grip is completed Request is: 09 04 07 D0 00 03 B1 CE Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) B1CE Cyclic Redundancy Check (CRC) Example of response if the grip is not completed: 09 04 06 39 00 00 FF 0E 0A B6 6D Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 3900 Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion" 00FF Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells that the command was well received and that the GRIPPER STATUS is valid. 44

Bits Description 0E0A Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is 100mA (these values will change during motion) B66D Cyclic Redundancy Check (CRC) Example of response if the grip is completed: 09 04 06 B9 00 00 FF BD 00 5C 9A Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) B900 Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing" 00FF Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells that the command was well received and that the GRIPPER STATUS is valid. BD00 Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to validate the size of the seized object) 5C9A Cyclic Redundancy Check (CRC) Step 6: Move gripper to release location Step 7: Open the Gripper at full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of registers written to 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 0900 Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper", rGTO = 1 for "Go to Requested Position" 45

Bits Description 0000 Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full opening of the Gripper (partial opening would also be possible) FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force 7219 Cyclic Redundancy Check (CRC) Response is: 09 10 03 E8 00 03 01 30 Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Step 8: Read Gripper status until the opening is completed Request is: 09 04 07 D0 00 03 B1 CE Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) B1CE Cyclic Redundancy Check (CRC) 46

Example of response if the opening is not completed: 09 04 06 39 00 00 00 BB 10 71 06 Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 3900 Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion" 0000 Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells that the command was well received and that the GRIPPER STATUS is valid. BB10 Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor current is 160mA (these values will change during motion) 7106 Cyclic Redundancy Check (CRC) Example of response if the opening is completed: 09 04 06 F9 00 00 00 0D 00 17 AA Bits Description 09 SlaveID 04 Function Code 04 (Read Input Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) F900 Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position Request" and gOBJ = 3 for "Fingers are at requested position" 0000 Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells that the command was well received and that the GRIPPER STATUS is valid. 0D00 Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have reached their software limit) 17AA Cyclic Redundancy Check (CRC) Step 9: To grip additional objects, loop from step 3. 47

The following subsections provide data on the various specifications for Hand-E. l Technical dimensions section l Dimensions of couplings l Dimensions for custom fingertips l Dimensions of standard fingertips l Mechanical Specifications section l Electrical specifications section 5.1. Technical dimensions 5.1.1. Hand-E Gripper The figure below represents the gripper dimensions with axes X, Y, Z, and origin referenced for finger motion. Info All technical drawings in the current section depict aluminum fingers. Robotiq Hand-E gripper Instruction Manual 48

5.1.2. Couplings Hand-E requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Blank coupling Below are the dimensions of the blank coupling, AGC-CPL-BLANK-002 (please refer to the Spare Parts, Kits and Accessories section), available to create a custom bolt pattern. The blue section can be fully customized (holes can be placed in any part of this section) while the grey section can only be worked to a depth of 3 mm. Fig. 5-2: Workable area dimensions of blank coupling AGC-CPL-BLANK-002 50

Coupling for ISO 9409-1-50-4-M6 Bolt pattern for coupling GRP-CPL-062 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 50 mm pitch circle diameter: l (4) M6-1.0 low head socket cap screw clearance l (1) M6 dowel pin l ISO 9409-1 standard 50-4-M6 Fig. 5-3: Coupling for ISO 9409-1-50-4-M6. 51

Coupling for ISO 9409-1-31.5-4-M5 Bolt pattern for coupling GRP-CPL-063 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 31.5 mm pitch circle diameter: l (4) M5-0.8 low head socket cap screw clearance l (1) M5 dowel pin l ISO 9409-1 standard 31.5-4-M5 Fig. 5-4: Coupling for ISO 9409-1-31.5-4-M5. 52

Coupling for ISO 9409-1-40-4-M6 Bolt pattern for coupling GRP-CPL-064 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 40 mm pitch circle diameter: l (4) M6-1.0 low head socket cap screw clearance l (1) M6 dowel pin l ISO 9409-1 standard 40-4-M6 Fig. 5-5: Coupling for ISO 9409-1-40-4-M6. 53

Coupling for PCD 56 with 8 x M4 Bolt pattern for coupling AGC-CPL-065-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 56 mm pitch circle diameter: l (8) M4-0.7 low head socket cap screw clearance l (1) M4 dowel pin l 62 mm diameter internal insert Fig. 5-6: Coupling for PCD 56 mm with 8 x M4 clearance. Info Although coupling AGC-CPL-065-002 is compatible with 8 x M4 threads on a 56 mm PCD it uses only 6 of the 8 normally present holes. 54

Coupling for PCD 56 with 6 x M4 Bolt pattern for coupling AGC-CPL-066-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 56 mm pitch circle diameter: l (6) M4-0.7 low head socket cap screw clearance l (1) M6 dowel pin l 42 mm diameter external insert Fig. 5-7: Coupling for PCD 56 mm with 6 x M4 clearance. 55

Coupling for PCD 60 with 4 x M5 Bolt pattern for coupling AGC-CPL-067-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 60 mm pitch circle diameter: l (4) M5-0.8 low head socket cap screw clearance l (1) M5 dowel pin l 34 mm diameter external insert Fig. 5-8: Coupling for PCD 60 mm with 4 x M5 clearance. 56

Coupling for PCD 63 with 6 x M6 Bolt pattern for coupling AGC-CPL-068-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with: l 63 mm pitch circle diameter: l (6) M6-1.0 low head socket cap screw clearance l (2) M6 dowel pins Fig. 5-9: Coupling for PCD 63 mm with 6 x M6 clearance. 57

5.1.3. Fingers and Fingertips The contact grip points for Hand-E are its two fingertip pads. Robotiq offers a selection of fingertips (see the Spare Parts, Kits and Accessories section), and users can create custom fingertips. The figure below represents the fingertip holder, the permanent, non customizable part of the gripper finger on which the fingertip must be mounted. Hand-E is shipped mounted with standard flat rubber (NBR) overmolded fingers. Custom fingertip design must meet the following specifications: l Forces exerted at the end of the fingertips must not exceed 100 N , regardless of the direction. Please refer to the Moment and force limits section for more details. Warning The following limits must be respected at all times. Calculation of maximum moment and force should include robot acceleration and safety factors. l Refer to the Mechanical Specifications section to evaluate the grip force according to your fingertip design. Info You can install custom fingertips directly on the rack or on the fingertip holder. Tip Fingertips can be mounted directly on racks or fingertip holders. Rack Fingers are installed directly on a rack. You may customize your own fingers to mount them on this part. NBR overmolded flat fingers (HND-FIN-MLD-KIT) are mounted directly onto it. Fig. 5-10: Racks in rack housing 58

Fingertip Holders To install fingertips on racks use fingertip holders (HND-TIP-HLD-KIT), and refer to the Spare Parts, Kits and Accessories section. You may customize fingertips to install directly on those. V-groove fingertips (HND-TIP-VGR-KIT) can be installed on fingertip holders. Fig. 5-11: Fingertip holder. Flat Rubber (NBR) Overmolded Fingers The figure below represents flat rubber (NBR) overmolded fingers (HND-FIN-MLD-KIT). For details, see the Spare Parts, Kits and Accessories section. This finger allows a 50 mm stroke. Fig. 5-12: Flat NBR overmolded finger. 59

Flat Aluminum Finger The figure below represents a flat aluminum finger (HND-FIN-ALU-KIT). For more details, refer to the Spare Parts, Kits and Accessories section. This finger allows a 50 mm stroke. Fig. 5-13: Flat aluminum finger. V-Groove Fingertip The figure below shows the V-groove fingertip (HND-TIP-VGR-KIT). For details, see Spare Parts, Kits and Accessories section. This fingertip inner surface has vertical grooves, making it ideal for picking cylindrical parts. This fingertip must be mounted on the racks using the fingertip holder (HND-TIP-HLD-KIT). Fig. 5-14: Grooved fingertip 60

5.2. Mechanical Specifications 5.2.1. Hand-E Assembly Info Data shown in the table below is typical for new products, and will vary with use. Specification Metric Imperial Stroke 50 mm 1.97 in Maximum recommended payload - Form-fit grasp 5 kg 11 lbs Maximum recommended payload - Friction grasp 3 kg 6.6 lbs Height - No fingertip 112 mm 4.41 in Height - With fingertips 157 mm 6.18 in Diameter 75 mm 2.95 in Weight 1070 g 2.3 lbs Grip force 20 N - 130 N 4.5 lbf - 27 lbf Finger speed 20 - 150 mm/sec 0.8 - 5.9 in/sec Table 5-1: Mechanical specifications of the Hand-E gripper fitted with coupling GRP-CPL-062 and aluminum fingertips. 61

Payload and force Friction Grip payload equation: Where: l W is payload weight l F is the force applied by the gripper to the load l Cf is the friction coefficient between fingertip and part load l Sf is a safety factor to be determined by the robot integrator Fig. 5-15: Grasping force on Hand-E fingertip. And Now, Some Terminology grasping force Force applied to an object via a gripper finger. Info The gripper has a power off brake. Without power, gripper fingers are blocked. Info For example, if the silicone fingertips (HND-TIP-SLC-KIT) are used to lift a lubricated steel part (machine tending with cutting oils), the friction coefficient would be 0.3 (tested static coefficient of friction). The maximum weight with a safety factor of 2.4 using the maximum grasping force of 130 N would be: W = (2 x 130 N x 0.3) / 2.4 = 32.5 N This calculation means that a 3.3 kg part will be held by the gripper when not moving (standing still). When accelerating, the payload will decrease. The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient. Warning In payload calculations, take robot acceleration into account. Robot emergency stops will lead to major deceleration velocities. 62

Maximum payload/External force vs. Custom finger design The maximum payload force recommended depends on the distance on the Z-axis at which the force/payload (F) is applied when using custom fingers on Hand-E. Fig. 5-16: Z-axis offset at which force/payload is applied. Fig. 5-17: Graph illustrating Maximum Payload/External Force vs. Z-Offset on Custom finger. l The blue curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mounted directly on the rack with two (2) M3 screws. l The red curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mountend on a fingertip holder with two (2) M3 screws. l The yellow curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mounted directly on the rack with three (3) M3 screws. 63

Info Data is calculated at the resulting position of the force applied, based on the strength of the M3 screws used. Maximum grasping force is included in calculations. It represents the maximum force that can be added to the finger (payload force + external force). Warning Calculations do not take fatigue, robot acceleration and safety concerns into account. Caution In order to address other custom specific cases with regards to your own application, pay special attention to screws strength when mounting fingers. Friction grasp and form-fit grasp Fig. 5-18: Friction grasp and form-fit grasp. Maximum payload by grasp type Grasp Type Maximum Payload Friction grasp 3 kg Form-fit grasp 5 kg 64

5.2.2. Center of Mass and Tool Center Point When grippers are not mounted on the Wrist Camera, a coupling is included. A dual gripper adapter plate is included when required. 65

Info The angle to calculate the TCP for grippers mounted on a dual gripper assembly is as follows: l Rx = 0 l Ry+/Ry- = 0.7854 l Rz = 0 The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in the figure below. Fig. 5-19: Inertia matrix for Hand-E. 66

5.2.3. Moment and force limits The Hand-E gripper has limits for moment and force values. The maximum moment and force values are independent of the grasp force the gripper applies on its payload. For payload calculation, see the Payload and force section. Warning Always operate within range. Calculation of maximum moment and force should include robot acceleration and safety factors. Parameter Hand-E with Aluminum Fingers Fx, Fy, Fz 100 N Mx* 2.65 Nm My* 3.74 Nm Mz* 2.00 Nm *Moments in x and y are calculated from the base of the fingers, as shown in the figure below. Fig. 5-20: Reference frame for maximum force and moment values applied to the fingers Usage examples with listed limits: l After picking its normal payload, the robot can use Hand-E to apply up to 100 N of force in any direction. Applying more than 100 N can damage the gripper or result in payload loss. l A gripper can pick up a screwdriver and apply 2 Nm of torque to screw (such a moment would be applied in the Z axis). 67

5.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC ±10% Quiescent power (minimum power consumption) 1 W Peak current 1.1 A 68

Maintenance is required after specified usage, measured in cycles (see Info box below for details about cycle definition). Following the maintenance interval will ensure : l Correct functioning of your Gripper. l Validity of your warranty. l Proper lifetime for your Gripper. Warning Unless otherwise indicated, any repairs done on the Gripper will be performed by Robotiq. Info A cycle is defined as a go to requested position command that results in grip force being applied ( closing the fingers on themselves or picking an object while opening or closing). Operation Daily Weekly 1 M cycles 2 M cycles Gripper Cleaning Dirty conditions Normal conditions Periodic Inspection X Rack and pinion mechanism cleaning X Table 6-1: Maintenance Intervals. Caution Always turn off the robot and the Gripper power supply before performing any maintenance operations. Maintenance operations are for the average normal usage of the Gripper, the maintenance intervals must be adjusted according to environmental conditions such as: l Operating temperature l Humidity l Presence of chemical(s) l Presence of physical parts (debris, scraps, dust, grease etc.) l Interaction with operated parts (sharp or rough) l Dynamics of the operation (accelerations) Robotiq Hand-E gripper Instruction Manual 69

6.1. Gripper cleaning Maintenance Interval Tools You Need Parts You Need Weekly or daily in dirty operating conditions l 4 mm hex key l Dry tissue or towel l Low strength thread locker None (unless damage is detected) Caution Always turn off the robot and the Gripper power supply before performing any maintenance operations. Caution The maintenance operator must be grounded to prevent electrostatic discharge that could damage the Gripper electronics. 1. Remove the Gripper from its coupling using the 4 mm hex key to unscrew the four (4) M5-0.8 x 25mm socket head cap screws. Note that each screw uses a tooth lock washer, do not lose them. 2. Clean the Gripper with a dry towel, remove all debris, dirt and dust from the surface of the Gripper, clean all pads, dry thoroughly. 3. Clean the coupling with a dry towel, pay particular attention to the electrical contact. 4. Visually inspect the Gripper and pay attention to any visible damage. 5. Put the gripper back on and secure it with the four (4) M5-0.8 x 25mm socket head cap screws and tooth lock washers. When cleaning the Gripper, verify that the fingers or fingertips are still intact. If there is wear visible, you can change the fingers or fingertips, using the ones provided by Robotiq or custom ones. See Spare Parts, Kits and Accessories section to order Hand-E replacement parts. In order to replace a finger: l Remove the worn finger by removing the M3 screws. l Clean the rack and dry thoroughly. l Insert the new finger on the rack. l Secure the finger using the provided M3 screws, apply low strength thread locker to the M3 screw threads. l Repeat for remaining finger. In order to replace a fingertip: l Remove the worn fingertip by removing the M3 screws. l Clean the fingertip holder and dry thoroughly. l Insert the new fingertip in the fingertip holder. l Secure the fingertip using the provided M3 screws, apply low strength thread locker to the M3 screw threads. l Repeat for remaining fingertip. 70

6.2. Periodic inspection Maintenance Interval Tools You Need Parts You Need Monthly l 4 mm hex key l Dry tissue or towel None (unless damage is detected) Caution Always turn off the robot and the Gripper power supply before performing any maintenance operations. 1. Remove and clean the Gripper following instructions in the Gripper cleaning section 2. Inspect the Gripper l Finger movement must be symmetric and fluid; test opening and closing of the Gripper: l Finger or fingertip wear must not affect gripping, if wear is visible and affects movement, change accordingly (refer to the Gripper cleaning section) l Check for any collision damage, if damage is visible, contact [email protected] l Check for any sign of wear on the Gripper chassis; if wear is present and may affect the Gripper, contact [email protected] 3. Put back in place according to the instructions from the Gripper cleaning section 71

6.3. Rack & pinion mechanism cleaning Maintenance Interval Tools You Need Parts You Need Every 2M cycles or more frequently in dirty operating conditions l 4 mm hex key l Dry tissue or towel l Low strength thread locker l Grease (Mobilith SHC1500 or equivalent.) l Grease (Mobilith SHC1500 or equivalent) l Degreaser Caution Always turn off the robot and the Gripper power supply before performing any maintenance operations. l Open the Gripper to an intermediate position, so you do not hide the six (6) M4 screws holding the rack housing in place. l Remove the Gripper from its coupling using the 4 mm hex key to unscrew the four (4) M5-0.8 x 25mm screws. Note that each screw uses a toothed lock washer, do not lose them. l Remove the six (6) M4 screws holding the rack housing. l Gently pull the rack housing away from the body of the Gripper. l Remove the pinion and key from the drive shaft, make sure you keep them in a safe space. l The finger's racks will slide off freely from the rack housing. Clean the rack housing, the racks and the pinion using a degreaser. Dry thoroughly. Clean the fingers (finger holders and fingertips if that is the case) with a dry towel. Remove all debris, dirt and dust. l Also clean the Gripper itself with a dry towel. Dry thoroughly. l Clean the coupling with a dry towel, pay particular attention to the electrical contact. l You can clean the Gripper according to the procedure described in the Gripper cleaning section. l Visually inspect the Gripper and pay attention to any visible damage. l Apply grease on the racks. Put it on all surfaces except the face with the tapped holes. Info Use Mobilith SHC1500 grease or an equivalent. l Insert the pinion with the key in the keyhole on the shaft. l Slide the racks back in the rack housing. l Reinsert the rack housing with racks on the Gripper. Make sure the racks go in symmetricaly compared to the center of the gripper. l Fix the six (6) M4 screws to secure the rack housing. Apply low strength thread locker to the M4 screw threads. l Put the gripper back on the coupling and secure it with the four (4) M5-0.8 x 25mm screws and tooth lock washers. 72

The following list is up-to-date at print time (12/19/2019) and is subject to change. Check online for updates. Info Unless specified, screws, dowel pins and other hardware are only included for grippers, and not for robots. Item Description Ordering Number Hand-E Basic Gripper Unit Hand-E basic gripper unit, includes flat rubber (NBR) overmolded fingers (HND-FIN-MLD-KIT) HND-GRP-001 Controller Optional controller for industrial communications. See Robotiq Universal Controller manual for more information. UNI-CTR-XXXX Hand-E flat rubber (NBR) overmolded finger kit l 2 x flat rubber (NBR) overmolded fingertips l 1 x screw kit HND-FIN-MLD-KIT Aluminum Finger Kit Aluminum finger kit includes: l 2 x aluminum fingers l 1 x screw kit HND-FIN-ALU-KIT Fingertip Starting Kit Fingertip Starting Kit includes: l 1 x Fingertip Holder Kit l 1 x V-Groove Fingertip Kit l 1 x Aluminum Fingertip Kit l 1 x hex key l 6 x dowel pins M2 X 6 l 8 x M3-0.5 X 8 screws HND-TIP-START-KIT Flat Silicone Fingertip Kit l 2 x flat rubber fingertips l 1 x screw kit Tip Silicone fingertips must be mounted on fingertip holders (HND-TIP-HLD-KIT). HND-TIP-SLC-KIT V-Groove Fingertip Kit l 2 x V-groove aluminum fingertips l 1 x screw kit HND-TIP-VGR-KIT Robotiq Hand-E gripper Instruction Manual 73

Item Description Ordering Number Tip V-groove fingertips must be mounted on fingertip holders (HND-TIP-HLD-KIT). Hand-E Fingertip Holder Kit l 2 x fingertips holder l 1 x screw kit HND-TIP-HLD-KIT 10m Device Cable 10 m Robotiq device cable for power and communication. Straight M12 5-pins female on one side, single ended on the other, shielded CBL-COM-2065-10-HF USB to RS485 adapter USB to RS485 adapter, can be used with device cable for USB connection ACC-ADT-USB-RS485 Hand-E Screw Kit The screw kit contains: l 4 x M5 screws l 4 x toothlock washers HND-SCREW-KIT 16G USB Stick USB stick to install the UR software package ACC-USB-16G End-Effector Coupling Kit ISO 9409-1-50-4-M6 coupling for Adaptive Robot Grippers, with screws and tools for Gripper fixation and 1 m pigtail cable GRP-CPL-062 To install Hand-E on a robot that has a different bolt pattern than part GRP-CPL-062 (ISO 9409-1-50-4-M6), you can use one of the following. The couplings listed below fit with both Hand-E and the 2-Finger Gripper. Item Description Ordering Number Blank coupling Blank coupling for Adaptive Robot Grippers, with screws for Gripper fixation and 1 m pigtail cable AGC-CPL-BLANK-002 ISO 9409-1-50-4-M6 (cable-to-controller) ISO 9409-1-50-4-M6 coupling for Robot Grippers with screws for Gripper fixation and 1 m pigtail cable GRP-CPL-062 ISO 9409-1-31.5-4-M5 coupling ISO 9409-1-31.5-4-M5 coupling for Adaptive Robot Grippers, with screws for Gripper fixation and 1 m pigtail cable GRP-CPL-063 ISO 9409-1-40-4-M6 coupling ISO 9409-1-40-4-M6 coupling for Adaptive Robot Grippers, with screws for Gripper fixation and 1 m pigtail cable GRP-CPL-064 74

Item Description Ordering Number 56-8M4-1D4 coupling Coupling for 56 mm PCD1 with (8) M4 and (1) 4mm dowel pin, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-065-002 56-6M4-1D6 coupling Coupling for 56 mm PCD1 with (6) M4 and (1) 6mm dowel pin, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-066-002 60-4Ø5-1D5 coupling Coupling for 60 mmPCD1 with (4) M5 thread and (1) 5mm dowel pin, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-067-002 63-6M6-2D6 coupling Coupling for 63 mm PCD1 with (6) M6 and (2) 6mm dowel pins, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-068-002 40-4M5-1D3 coupling Coupling for 40 mm PCD1 with (4) M5 and (1) 3mm dowel pins, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-070-002 31.5-4M4 coupling Coupling for 31.5 mm PCD1 with (4) M4, with screws for Adaptive Robot Grippers fixation and 1 m pigtail cable AGC-CPL-071-002 Adapter plate to 63-4M6-71-2D3 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 63 mm PCD1 with (4) M6 screws and 71 mm PCD1 with (2) M3 dowel pins AGC-APL-151-002 Adapter plate to 63-4M6-61_4-2D6 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 63 mm PCD1 with (4) M6 screws and 61.4 mm PCD 1 with (2) M6 dowel pins AGC-APL-152-002 Adapter plate to 80-6M8-2D82D8 Wrist adapter plate for use with AGC-CPL-064-002. Interface to 80 mm PCD1 with (6) M8 screws and (2) M8 indexing pins AGC-APL-153-002 1Pitch Circle Diameter 75

When using Hand-E with a USB to RS485 serial converter, the color of the LED on your Hand-E can provide information on the issue you are facing. LED status Description Solutions Off Gripper is not powered. Check Gripper power supply and electrical setup. See Electrical Setup section. Solid blue and red Gripper is in fault. 1. Disconnect the communication and power cycle the Gripper. The led should turn solid red when powered. 2. While powered with red LED, connect the com- munication, LED should turn solid blue when con- nection is established. Blinking blue and red Gripper is in fault. 1. Gripper may be in auto-release, wait for auto- release to be completed, then turn off auto-release and initialize the Gripper. 2. Gripper may have a major fault, check the error from fault status and contact support. Solid blue No fault, and communicating. 1. If you can control the Gripper from the Teach Pend- ant , check your program structure. 2. If you can not control the Gripper from the Teach Pendant, contact support. Solid red No fault, but Gripper is not communicating. Check the LED of the USB to RS485 converter. See table below for details. Table 8-1: Troubleshooting Solutions Depending on Gripper LED Status Robotiq Hand-E gripper Instruction Manual 76

8.2. Using the LED of the USB to RS485 converter When your Hand-E gripper LED is solid red, and you are using a USB to RS485 converter, refer to current subsection to troubleshoot. Check the LED on your converter, and read the table below for details. LED status Description Solutions Off No USB communication. 1. Check USB connection. 2. Re-install drivers. 3. Contact support. Solid red Data sent from USB to RS-485 serial port. Communicating. No problem. Solid green Data sent from RS-485 serial port to USB. Communicating. No problem. Slowly blinking, red - 1. Check the DB-9 connector. 2. Check the cable. 3. Check the communication parameters from the Robotiq User Interface, and see recovery pro- cedure. 4. Contact support. Quickly blinking, red and green - 1. Check fault status, maximum operating tem- perature could be exceeded. 2. Contact support. Table 8-2: Troubleshooting Solutions Depending on USB to RS-485 Converter LED Status 8.3. Using the Robotiq User Interface (RUI) Use the Robotiq User Interface to check that your gripper functions properly: 1. Install the Robotiq User Interface on a computer. 2. Connect your Gripper to a computer USB port. 3. Send instructions to your gripper via the Robotiq User Interface. If this fails, check that all cables are connected to your gripper and to your computer. 4. Contact [email protected]. Info For details on the Robotiq User Interface, see its Instruction Manual, available on robotiq.com/support. 77

Robotiq warrants Hand-E against defects in material and workmanship for a period of one year from the date of reception when utilized as intended. Robotiq also warrants that this equipment will meet applicable specifications under normal use. The warranty applies under the following conditions: l Usage respects the operating and storage conditions specified in the Environmental and Operating Conditions section l Proper installation of the Gripper specified in the Installation section and following subsections. l Until a 2 000 000 cycle count1 has been reached. l Usage respects maintenance specified in the Maintenance section. l Usage respects recommended payload and forces specified in the Mechanical Specifications section. 1Cycle count: One (1) cycle is defined as an object picking attempt, successful or not(open or closing onto an object, or closing on itself). It is calculated in the internal memory of the Hand-E gripper. During the warranty period, Robotiq will repair or replace any defective , as well as verify and adjust the Gripper free of charge if the equipment should need to be repaired or if the original adjustment is erroneous. If the equipment is sent back for verification during the warranty period and found to meet all published specifications, Robotiq will charge standard verification fees. The unit is considered defective when at least one of the following conditions occurs: l The Gripper fingers cannot close or open; l The Gripper feedback necessary for the robot program is not accessible. Parts that come into contact with the work piece and wearing parts such as the finger and fingertips are not covered by the warranty. Caution The warranty will become null and void if: l The unit has been tampered with, repaired or worked on by unauthorized individuals. l The warranty sticker has been removed. l The screws, other than as explained in this guide, have been removed. l The unit has been opened other than as explained in this guide. l Unit serial number has been altered, erased, or removed. l Unit has been misused, neglected, or damaged by accident. This warranty is in lieu of all other warranties expressed, implied, or statutory, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. In no event shall Robotiq be liable for special, incidental, or consequential damages. Robotiq shall not be liable for damages resulting from the use of the Hand-E, nor shall Robotiq be responsible for any failure in the performance of other items to which Hand-E is connected or the operation of any system of which the Gripper may be a part. Robotiq Hand-E gripper Instruction Manual 78

10.1. Translation of original EC declaration of incorporation Translation of Original Declaration of Incorporation In terms of the Directive 2006/42/EC, Annex II, part B of the European Parliament and of the Council on machinery, we, the manufacturer, Robotiq Inc. 966, Chemin Olivier, suite 500 Lévis, Québec, Canada, G7A 2N1 hereby declares that the following product: Robotiq Hand-E Gripper meets the applicable requirements of the Machinery Directive 2006/42/EC of the European Parliament and of the Council. The incomplete machine may not be operated until the machine in which it is integrated has been declared compliant with the relevant provisions of the 2006/42/CE Machinery Directive. The manufacturer agrees to forward upon request of national competent authorities the relevant technical documents specified by Annex VII, part B, within the required time. Additionally, the product declares in conformity with the following directives, according to which the product is CE marked: 2011/65/EU Restriction of the use of certain hazardous substances (RoHS) Person responsible for documentation: Annick Mottard, Jr. Eng., address: see manufacturer address Lévis, May 2018 Jean-Philippe Jobin Vice President Research and Development Robotiq Inc. The following standards have been applied: NF EN ISO 12100 2010        Safety of machinery — General principles for design — Risk assessment and risk reduction CEI 60204-1 Ed6.0 2016        Safety of machinery — Electrical equipment of machines — Part 1: General requirements NF EN ISO 14539 2000        Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary and presentation of characteristics NF EN ISO 9409-1 2004 2004        Manipulating industrial robots — Mechanical interfaces — Part 1: Plates Robotiq Hand-E gripper Instruction Manual 79

10.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq Hand-E gripper. Standards are applied were applicable, some points may not be applied if not applicable to this specific product. Conformity is not enforced by any laws, it is self-applied and the aim is to define normal safety and performance requirements for similar products. Caution Conformity of the product is only met if all instructions of this manual are followed. Among others: installation, safety measures and normal usage must be met. The following standards have been applied: NF EN ISO 12100 2010        Safety of machinery — General principles for design — Risk assessment and risk reduction CEI 60204-1 Ed6.0 2016        Safety of machinery — Electrical equipment of machines — Part 1: General requirements NF EN ISO 14539 2000        Manipulating industrial robots — Object handling with grasp-type grippers — Vocabulary and presentation of characteristics NF EN ISO 9409-1 2004 2004        Manipulating industrial robots — Mechanical interfaces — Part 1: Plates 80

Technical support Extension 3 Sales Extension 2 Head office Robotiq 966 chemin Olivier Suite 500 Lévis, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. dof.robotiq.com Robotiq Hand-E gripper Instruction Manual 82