ROBOTIQ 2F-85 Original Notice

for TM Robots Instruction Manual robotiq.com | leanrobotics.org Original Notice © 2019 Robotiq Inc.

Revisions 5 1. General Presentation 7 1.1. Grippernomenclature 8 1.2. 2F-85 vs. 2F-140 9 1.3. Object picking 10 1.4. Setup and control 13 2. Safety 14 2.1. Warning 15 2.1.1. Risk assessment and final application: 15 2.2. Intended Use 16 3. Installation 17 3.1. Scope of Delivery 18 3.1.1. TM Kit 18 3.2. Required Toolsand Equipment 18 3.3. Environmentaland Operating Conditions 19 3.4. MechanicalInstallation 20 3.4.1. Installing fingers on the Gripper 20 3.4.2. Installing the fingertips on the Gripper 21 3.4.3. Installing a Protector Kit on the Gripper Fingers 22 3.4.4. Installing the Gripper onto the robot 22 Single Gripper 22 Multiple Grippers 23 3.5. ElectricalSetup 24 3.5.1. Pinout Interface 26 3.5.2. Coupling to controller 26 Single Gripper 28 Multiple Grippers 28 4. Control 30 4.1. Overview 30 4.2. GripperRegisterMapping 32 2F-85 & 2F-140 - Instruction Manual 2

4.3. Robot Output Registers& Functionalities 33 4.4. Robot Input Registers& Status 36 4.5. Picking Features 39 4.5.1. Force control 39 4.5.2. Re-Grasp 44 4.5.3. Object detection 45 4.6. ControlLogic 46 4.7. ModbusRTU Communication 47 4.7.1. Connection Setup 48 4.7.2. Read holding registers (FC03) 49 4.7.3. Read input registers (FC04) 50 4.7.4. Preset multiple registers (FC16) 51 4.7.5. Master read & write multiple registers FC23 52 4.7.6. Modbus RTU example 54 4.8. ControloverTM 63 4.8.1. TM Robots Compatibility with Robotiq Grippers 63 4.8.2. Getting Started 63 4.8.3. TM Gripper Components 67 Installation 67 Gripper Button 74 Programming 76 SET Component 76 GRIP Component 78 RELEASE Component 79 CHANGEGRIPPER Component 81 Changing the Modbus Slave ID 83 5. User Interface 85 6. Specifications 86 6.1. Technicaldimensions 87 6.1.1. Couplings 91 Blank coupling 91 Coupling for ISO 9409-1-50-4-M6 92 Coupling for ISO 9409-1-31.5-4-M5 93 3

Coupling for ISO 9409-1-40-4-M6 94 Coupling for PCD 56 with 8 x M4 95 Coupling for PCD 56 with 6 x M4 96 Coupling for PCD 60 with 4 x M5 97 Coupling for PCD 63 with 6 x M6 98 6.1.2. Fingertips 99 Flat silicone fingertip 100 Grooved fingertip 101 6.2. Mechanicalspecifications 102 6.2.1. Payload and force 103 Friction grasp and form-fit grasp 105 Maximum payload by grasp type 105 6.2.2. Equilibrium Line 106 6.2.3. Center of mass, tool center point and moment of inertia 107 6.2.4. Moment and force limits 109 6.3. Electricalspecifications 110 7. Maintenance 111 7.1. Grippercleaning 112 7.2. Periodicinspection 114 7.3. Fingertip replacement 115 7.4. Overhaul 116 8. Spare Parts, Kitsand Accessories 117 9. Troubleshooting 120 10. Warrantyand Patent 121 11. Contact 124 12. Harmonized Standards, Declarationsand Certificates 125 12.1. Translationof originalEC declarationof incorporation 125 12.2. Applied standards 126 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 support.robotiq.com. Revision2019/05/03 Updated environmental and operating conditions (Section 3.3) Revision2019/03/13 Updated mechanical specifications (section 6.2) Revision2018/12/06 First Publication of Instruction Manual 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" , " Adaptive Gripper" , " Robotiq Gripper" , " Robotiq Adaptive Gripper" , " 2-Finger 85" , " 2-Finger 140" , " 2F-85" and " 2F-140" used in the following manual all refer to the Robotiq 2-Finger Adaptive Robot Gripper. The Robotiq 2-Finger Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will change finger opening dimensions, which will be 85 mm (2F-85)or 140 mm (2F-140). Both versions use the same base, installation and control will be exactly the same. The 2-Finger Gripper is a robotic peripheral that is designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to quickly pick, place and handle a large range of objects of varying sizes and shapes. Info Unless specified, information in this manual applies to both the 85 and the 140 mm version of the 2-Finger Adaptive Robot Gripper. Info The following manual uses the metric system, unless specified, all dimensionsare inmillimeters. Info The following section presents the key features of the grasp-type gripper and must not be considered as appropriate to the 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 grasp-type gripper. 2F-85 & 2F-140 - Instruction Manual 7

1.1. Gripper nomenclature The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in the figure below. The grasp-type gripper can engage up to five points of contact with an object (two on each of the phalanges plus the palm). The fingers are under-actuated, meaning they have fewer motors than the total number of joints. This configuration allows the fingers to automatically adapt to the shape of the object they grasp and it also simplifies the control of the grasp-type gripper. Fig. 1-1: Robotiq 2-Finger Adaptive Gripper. Please refer to the Spare Parts, Kitsand Accessoriessection for details on standard and optional parts. 8

1.2. 2F-85 vs. 2F-140 The 2-Finger Gripper comes with either 85 mm opening (2-Finger 85)or 140 mm opening (2-Finger 140)according to the figure below. The chassis will remain the same, only the fingers will change. Please refer to the Mechanical Installationsection for installation instructions. Finger kits are available in the Spare Parts and Accessories section. Info Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications)can be found in the Specificationssection. Fig. 1-2: The 2-Finger 85 and 140 mm versions. 9

1.3. Object picking The 2-Finger Gripper has a single actuator for opening and closing the fingers, the fingers automatically adapt to the shape of the object manipulated. Fingers will adopt either a parallel grasp or encompassing grasp as shown in the figure below. Info Closing or opening is done via the " Go to requested position" command and is input to the Gripper Whetherthe fingers close to produce anemcompassing orfingertip grasp isdecided at the Gripperlevel automatically. It will depend on: l The objects's geometry; l The relative position of the object with respect to the Gripper. In other words, picking the same object could result in either an emcompassing or fingertip grasp based on an object's position and geometry. Fig. 1-3: 2-Finger parallel and encompassing grips. Info It is important to note that a fingertip grasp can only be performed when the fingers touch the object with the upper section of the distal phalanxes first. Inversely, for an encompassing grip, the fingers must touch the object with the proximal or the lower section of the distal phalanxes first. Also, to ensure stability, the object should be held against the Gripper palm while performing an encompassing grip. Refer to the figure below for a visual representation of the parallel and encompassing grasp regions on the distal phalanx of the 2-Finger Gripper. 10

The 2-Finger Adaptive Robot Gripper also allows for internal grasping. The fingers can pick hollow objects from the inside by applying pressure with the outside of the fingers. Refer to the figure below for a visual representation and to the Picking Featuressection for details on the possible position commands of your Gripper. Fig. 1-4: Finger internal and external grasping. 11

The Gripper equilibrium line is the grasping region that separates the encompassing grasp from the parallel grip. When grasping an object close enough to the inside (palm)of the Gripper, the encompassing grasp will occur (unless the object size or shape is not adequate)and the fingers will close around the object. If grasped above the equilibrium line, the same object will be picked up in a parallel grasp by the fingertips and the fingers will close with a parallel motion. The figure below shows the encompassing grasp region, the equilibrium line, and the parallel grasp regionon the 2-Finger Adaptive Robot Gripper. Info The details of the equilibrium line relation between opening angle and the related position d can be found in the Mechanical specificationssection. Fig. 1-5: Equilibrium line on the 2-Finger, shown with no fingertip pads. Tip Grasping an object that could be grasped by an encompassing grasp (a cylinder for example)on the equilibrium line is not recommended, as slight variations on the position will switch the grasp from parallel to encompassing and vice versa. Robot programming should be done so that the grasping mode will be predetermined. 12

1.4. 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, see Section 3.5 for wiring information and Section 4 for control of the Gripper (various software packages are available for control via various robot controllers). Info Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU over serial). Gripper Coupling is required for 2-Finger usage, the Coupling will provide mechanical and electrical connectivity. Please refer to the Mechanical Installationsection for installation of the Coupling, to the Specificationssection for technical drawings, and to the Spare Parts, Kitsand Accessoriessection for available couplings. The 2-Finger has an embedded object detection feature using indirect sensing methods. When picking an object via 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 ''go to'' command limit is attained. For details on object detection, see Control section. 13

2-Finger Adaptive Robot Gripper. Caution The term " operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper: l Installation l Control l Maintenance l Inspection l Calibration l Programming l Decommissioning This documentation explains the various components of the 2-Finger and general operations regarding the whole life-cycle of the product from installation to operation and decommissioning. The drawings and photos in this documentation are representative examples and differences may exist between them and the delivered product. 2F-85 & 2F-140 - Instruction Manual 14

2.1. Warning Caution 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 satisfy the recommended keying for electrical connections. l Be sure no one is in the robot and/or Gripper path before initializing the robot's routine. l Always satisfy the Gripper payload. l Set the Gripper 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. 2.1.1.Risk assessment and final application: The Robotiq 2-Finger Adaptive Gripper is meant to be used on an industrial robot. The robot, Gripper and any other equipment used in the final application must be evaluated with a risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are respected. Depending on the application, there may be risks that need additional protection/safety measures, for example, the work-piece the Gripper is manipulating may be inherently dangerous to the operator. 15

2.2. Intended Use The Gripper unit is designed for grasping and temporarily securing or holding objects. Caution The Gripper is NOT intended for applying force against objects or surfaces. 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 may be used only 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. 16

l The Scope of Deliverysection l The Required Toolsand Equipment section l The Environmental and Operating Conditionssection l The Mechanical Installationsection l The Electrical Setup section Warning Before installing: l Read and understand the safety instructions related to the 2-Finger Adaptive Robot 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 Satisfy the 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. 2F-85 & 2F-140 - Instruction Manual 17

3.1. Scope of Delivery 3.1.1.TM Kit Robotiq 2F-85 Adaptive Gripper Robotiq 2F-140 Adaptive Gripper l 1x 2F-85 Basic Gripper Unit (with Flat Silicone Fingers) l 1x End Effector Coupling for Bolt Pattern ISO 9409-1-50-4-M6 (with 1 m Pigtail Cable) l 1 x 10 m Robotiq Device Cable l 1x RS485 to RS232 Converter l 1x Screw Kit for Fixing End Effector Coupling on TM Robots l 1x RS485 to USB Converter (for troubleshooting or Slave Address ID Change on a PC) l 1x 2F-140 Basic Gripper Unit (with Flat Silicone Fingers) l 1x End Effector Coupling for Bolt Pattern ISO 9409-1-50-4-M6 (with 1 m Pigtail Cable) l 1 x 10 m Robotiq Device Cable l 1x RS485 to RS232 Converter l 1x Screw Kit for Fixing End Effector Coupling on TM Robots l 1x RS485 to USB Converter (for troubleshooting or Slave Address ID Change on a PC) 3.2. Required Toolsand Equipment The following tools are required to install the 2-Finger Adaptive 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 finger kits: AGC-FIN-KIT-085 or AGC-FIN-KIT-140: l 2 mm hex key Optional tools if installing other fingertips: AGC-TIP-204-085, AGC-TIP-205-085, AGC-TIP-420-140, AGC-TIP-420-140 l 4 mm hex key The following parts are required for setup : l Power supply (see below). l Fuse (if applicable), 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. 18

SPECIFICATION VALUE 2 A fuse at 25°C [77°F]1 Table 3-1: 2-Finger power supply requirements. Info 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: Tip Optional Robotiq Universal Controller can use the same power supply. 3.3. Environmental and Operating Conditions CONDITION VALUE Minimum storage/transit temperature -30°C [-22°F] Maximum storage/transit 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 40 Other l Free from dust, soot or fluids l Free from corrosive liquids or gases l Free from explosive liquids or gases l Free from powerful electromagnetic inter- ference Table 3-2: Environmental and operating conditions of the 2-Finger Adaptive Gripper 19

3.4. Mechanical Installation 3.4.1.Installing fingerson the Gripper Depending on your order, you may or may not have fingers already mounted on the Gripper. The first step of installation should be to install the fingers. Refer to the figure below for finger placement. To do so : 1. Align fingers with chassis axes. To do so, the slot on the finger bar should be aligned correctly with the corresponding chassis axis. 2. Insert the finger shaft in the finger bar bracket hole and through the chassis axis (top hole is for parallel locking while bottom hole is for finger installation).. 3. Apply medium strength threadlocker on the provided screws, align the finger bar and fasten to the chassis/chassis axis. Fig. 3-1: 2-Finger Adaptive Gripper installation. 20

3.4.2.Installing the fingertipson the Gripper Depending on your options, you may have fingertips to install. The second step of the installation should be to install the fingertips. To do so: 1. Align the fingertip indexing pins with the finger dowel holes. 2. Insert the M5 X 10 low head cap screws and screw on after applying low strength threadlocker. Fig. 3-2: Installing the fingertips on the Gripper 21

3.4.3.Installing a Protector Kit on the Gripper Fingers An optional protector kit (AGC-PRO-KIT-V4)can be ordred to cover the fingers of the 2F-85 and therefore protect users and assets against pinch points. You can install them using eight (8)M3 screws. Fig. 3-3: Protector Kit Installation 3.4.4.Installing the Gripper onto the robot Single Gripper You must use a coupling to attach the Gripper to the robot. Here are the steps to follow to mount the Gripper on the robot (exploded view in the figure below). Note that all screws must be locked in place using medium strength threadlocker. 1. Screw the coupling to the robot wrist; align properly with the dowel pin 2. Fasten the Gripper to the coupling 22

Fig. 3-4: Installing a Gripper on the robot wrist Multiple Grippers When installing multiple grippers on one robot, every gripper must have its own coupling. 1. Install a mounting plate (not provided)first on the robot arm (AGC-APL-159-02). 2. Mount the gripper couplings on the mounting plate using the provided M6 X 10 mm screws. 3. Mount the grippers onto their coupling using the provided M5 X 35 mm screws. 23

Fig. 3-5: Exploded View of a Dual Gripper Setup 3.5. Electrical Setup Power and communication are established with the 2-Finger Adaptive Robot 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. An optional Robotiq Universal Controller may be used between the Gripper and the network / robot controller if fieldbus communication is required. Info RS485 signals (485+, 485- and 485 GND)are isolated from the main 24V power supply. 4 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. Gripper grounding is optional and is done via the robot ground. The coupling indexing pin (dowel)is the ground connector. Gripper coupling, chassis and proximal phalanx are linked as illustrated in the figure below. They link through the coupling indexing pin to the robot ground. Proximal bars, distal phalanx, fingertip base and fingertips are isolated. 24

Fig. 3-6: Robotiq 2-Finger electrical isolation / grounding. 25

3.5.1.Pinout Interface The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface. Info The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6. 3.5.2.Coupling to controller If a Robotiq Universal Controller is used, please refer to the Robotiq Universal Controller manual. The figure below represents the wiring schematic of the 2-Finger with device cable, power supply, fuse (please refer to the Required Toolsand Equipment section)and grounding. Fig. 3-7: Pigtail cable and device cable wiring schematic. 26

Fig. 3-8: Robotiq 2-Finger with pigtail cable and device cable wiring schematic. Warning Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper along all axes without pulling out the connectors. Always protect the controller-side (robot side)connector of the cable with a strain relief cable clamp. The figure below represents the 2-Finger pigtail connector from the coupling (AGC-CPL-XXX), device cable - robot side (CBL-COM-2065-XX)and their associated pinout. Fig. 3-9: Pinout of the 2-Finger pigtail and device cable. If additional cable is used, suggested cable specifications are as follows: Power supply, fusing: l minimum #22 AWG TEW, 300 V or 600 V 27

RS485 signals : l minimum #24 AWG TEW, 300 V or 600 V l A and B signals must be balanced at 120 Ohms Single Gripper Connect the white, green and bare wires to the Robotiq RS485 to RS232 signal converter (ACC-ADT-RS232-RS485)as shown in the figure below. Fig. 3-10: Gripper Cable to RS485/RS232 Converter Also connect the red (24V)and black (0V)wires in the controller according to the figure below. Fig. 3-11: Gripper Cable to Terminal Connector on the Controller Multiple Grippers It is possible to connect multiple grippers on the same robot. Only one RS485 to RS232 converter (ACC-ADT-RS232-RS485)must be used. Use M12 splitters (ACC-SPLIT-M12-2:1)to connect all the grippers pigtails to one 10m cable (CBL-COM-2065-10-HF)that connects to the RS485 to RS232 converter. 28

4.1. Overview Tip Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper, like object detection and force control. Since the Robotiq 2-Finger has its own embedded controller, high-level commands, such as " Go to requested position" are used to control it. Info The operator can: l Control force, speed and position of the Gripper fingers. l Finger movement is always synchronized, movement is initiated via a single " Go to requested position" command. l Parallel or encompassing grasp is done automatically. l A built in object detection feature is available, the user can be notified after an object is picked once the " Go to" command has been initiated. l Engage directional (open or close )auto-release for emergencies. Control using registers The Gripper has an internal memory that is shared with the 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; gripperstatus. Two types of actions can then be done by the robot controller : 1. Write in the robot output registers to activate functionalities; 2. Read in the robot input registers to get the statusof the Gripper. The GripperRegisterMapping section will map the different registers used to control the Gripper or to read its status while the Robot Output Registers& Functionalitiessection will detail the output (write)register functions, and the Robot Input Registers& Statussection will detail the input (read)register status. The figure below is a representation of the memory and the control logic of the Gripper. 2F-85 & 2F-140 - Instruction Manual 30

4.2. Gripper Register Mapping Registermapping Caution Byte numerationstartsat 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 2-Finger Gripper. 32

4.3. Robot Output Registers& Functionalities 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, rACT bit will activate the Gripper. Clear rACT to reset the Gripper and clear fault status. l 0x0 - Deactivate Gripper. l 0x1 - Activate Gripper (must stay on after activation routine is completed). Warning When setting rACT to one, the Gripper will begin movement to complete its auto-calibration feature. Info Power loss will set rACT; rACT bit must then be cleared, then set to allow operation of the Gripper. Caution 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 byte 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 motion is completed, the Gripper sends a fault signal and needs to be reactivated before any other motion is performed. The rATRbit overrides all other commands excluding the activation bit (rACT). l 0x0 - Normal. l 0x1 - Emergency auto-release. 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 will require rACT to be cleared (rACT == 0)then set (rACT == 1). 33

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 rATRbit, as the motion direction is set when the auto-release is initiated. l 0x0 - Closing auto-release l 0x1 - Opening auto-release Register: GRIPPEROPTIONS Address: Byte 1 Register: GRIPPEROPTIONS2 Address: Byte 2 Bits 7 6 5 4 3 2 1 0 Symbol Reserved 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 0xFFcorrespond respectively to the fully opened and fully closed mechanical stops. For detailed finger trajectory, please refer to the Specificationssection. l 0x00 - Open position, with 85 mm or 140 mm opening respectively l 0xFF- Closed l Opening / count: 0.4 mm (for 85 mm stroke)and 0.65 mm (for 140 mm stroke) Info The activation feature of the Robotiq Adaptive Gripper will allow the Gripper to adjust to any fingertips. No matter what is the size and shape of the fingertips used, 0 will always be fully opened and 255 fully closed, with a quasi-linear relationship between 0 and 255. Register: SPEED Address: Byte 4 34

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 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 while in motion. If the current limit is exceeded, the fingers stop and trigger an object detection notification. Please refer to the Robot Input Registers& Statussection 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 zero. 35

4.4. Robot Input Registers& Status Register: GRIPPER STATUS Address: Byte 0 Bits 7 6 5 4 3 2 1 0 Symbol s gOBJ gSTA gGTO Reserved gACT gACT: Activation status, echo of the rACT bit (activation bit). l 0x0 - Gripper reset. l 0x1 - Gripper activation. 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 & 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 object detection may not detect an object even if it is successfully grasped. For example, picking up a thin object in a fingertip grasp may be successful without object detection occurring. For such reasons, use this feature with caution. In these applications when the " Fingers are at requested position" status of register gOBJ, this is sufficient to proceed to the next step of the routine. Tip Checking for the correct position of the fingers (byte 4), aswell asobject 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. 36

Register: RESERVED Address: Byte 1 Bits 7 6 5 4 3 2 1 0 Symbol Reserved 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 (LED is blue) l Priority faults (LED is blue) l 0x05 - Action delayed, activation (reactivation)must be completed prior to perfmoring the action. l 0x07 - The activation bit must be set prior to action. Minor faults (LED continuous red) l 0x08 - Maximum operating temperature exceeded, wait for cool-down. 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 & status). 37

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. 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. 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 finger's electrical current readings. The user does not need to create these features. 38

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 rPRbyte is the aimed position, rSP and rFRwill 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 4.5.1.Force control The 2-Finger Gripper gripping force is controlled via the rFRbyte (refer to the GripperRegisterMapping section).The Gripper behavior will change according to the rFRforce requested. l rFR= 0 : Very fragile objects or deformable objects mode l Lowest force l Re-grasp feature is off l 1 rFR127 : Solid & fragile objects l Low torque mode l Re-grasp feature is on l 128 rFR255 : Solid & strong objects l High torque mode l Re-grasp feature is on The table below shows the expected applied force according to the payload material hardness, speed setting rSP and force setting rFR. All tests were done with the 2-Finger Gripper with firmware GC3-1.3.9. Data was obtained with a Load Cell from Phidget, SType, model 3138. 39

FINGER PAD PAYLOAD MEASURED FORCE MIN / MAX (N) TYPE HARDNESS TYPE HARDNESS 2-Finger85 2-Finger140 Steel 4340 220 HV Steel 4340 220 HV3 25 - 220 15 - 120 Aluminium 60611 95 HV Aluminium 6061 95 HV 25 - 220 15 - 120 Aluminium 60611 95 HV Silicone (TIP-204)2 60 A Durometer 25 - 220 15 - 120 Aluminium 60611 95 HV Silicone rubber 40 A Durometer4 25 - 155 15 - 100 Aluminium 60611 95 HV Neoprene rubber 10 A Durometer 25 - 115 15 - 75 Aluminium 60611 95 HV Polyurethane rubber 30 OO Durometer 25 - 115 15 - 75 1 Available with V-Groove fingertip AGC-TIP-205-0085 / AGC-TIP-421-140. 2 Available with flat silicone fingertip AGC-TIP-204-085 / AGC-TIP-420-140. 3 HV refers to Vickers hardness test. 4 Durometer refers to Shore durometer hardness, scale A or scale OO. 40

Fig. 4-2: grasp force on hardness 220 HV (4340 annealed carbon steel). Fig. 4-3: grasp force on hardness 95 HV (6061-T6 aluminium). 41

Fig. 4-4: grasp force on hardness 60A (silicone). Fig. 4-5: grasp force on hardness 40 A (silicone). 42

Fig. 4-6: grasp force on hardness 10 A (neoprene). Fig. 4-7: grasp force on hardness 30 OO (polyurethane). 43

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 movement when an object is slipping or dropped. When Re-grasping, the Gripper will attempt to close until it reaches the position (rPR)request. 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 rPRposition 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 exceeded to prevent damaging the object grasped. Info The rOBJ status is cleared when a motion is detected. 44

4.5.3.Object detection When the Gripper grabs an object, gOBJstatus will allow you to know if object retention was successful. This is a built-in feature for the 2-Finger 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. Object detection exemple: 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. Object lost example: 1. From previous example, after an object is picked, gOBJ = 0x02 2. If gOBJ = 0x03 after it was 0x02, user can assume the object as been lost. 45

4.6. Control Logic Fig. 4-8: Example of the 2-Finger control logic with associated registers. 46

4.7. ModbusRTU Communication The Gripper can be controlled by Modbus RTU directly with RS485-RS232 using the ACC-ADT-RS232-RS485, or over USB using the ACC-ADT-USB-RS485. This section is intended to provide guidelines for setting up a Modbus scanner 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 CASModbus 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 specification and details can be found at www.modbus.org. 47

4.7.1.Connection Setup The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol. PROPRIETY VALUE Physical Interface RS-4851 Baud Rate2 115,200 bps Data Bits 8 Stop Bit2 1 Parity2 None Supported Functions Read Holding Register (FC03) Read Input Registers (FC04) Preset Multiple Register (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) 1 Various converters are available in the Spare parts 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 usual 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 Maximum baud rate of ACC-ADT-USB-RS485 is 115200 bps. 120 Ohms termination resistor is already present on the converter. 48

4.7.2.Read holding registers(FC03) Function code 03 (FC03)is used for reading the status of the Gripper (robot input). Examples of such data are Gripper status, object status, finger position, etc. Example of FC03 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 03 07 D0 00 02 C5 CE Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0002 Number of registers requested (2) C5CE Cyclic Redundancy Check (CRC) Response is: 09 03 04 E0 00 00 00 44 33 Bits Description 09 SlaveID 03 Function Code 03 (Read Holding 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 4433 Cyclic Redundancy Check (CRC) 49

4.7.3.Read input registers(FC04) Function code 04 (FC04)is used for requesting the status of the Gripper's analog input register. Examples of such data are Gripper status, object status, finger position, etc. Example of 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 C5 CE Bits Description 09 SlaveID 04 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0002 Number of registers requested (2) 700E Cyclic Redundancy Check (CRC) Response is: 09 04 04 E0 00 00 00 44 33 Bits Description 09 SlaveID 04 Function Code 04 (Read Holding 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) 50

4.7.4.Preset multiple registers(FC16) Function code 16 (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) 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) 51

4.7.5.Master read & write multiple registersFC23 Function code 23 (FC23)is used for reading the status of the Gripper (robot input)and activating functionalities of the Gripper (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 writtento 0002 Number of registers writtento (3) 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) 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 52

Bits Description 09E6 Content of register 07D1 F6C1 Cyclic Redundancy Check (CRC) Note that the content of the response might change depending on the Gripper's status. 53

4.7.6.ModbusRTU example This section depicts the example given in the Control Logicsection 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 grasp an object. It moves again to a second location to release the grasped object. Step 1:ActivationRequest ( clearand 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 GRIPPEROPTIONS= 0x00): rACT = 1 for"Activate 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) 54

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 GRIPPEROPTIONS= 0x00): rACT = 1 for"Activate Gripper" 0000 Value written to register 0x03EA 0000 Value written to register 0x03EB 72E1 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) 55

Step 2:Read Gripperstatusuntil the activationiscompleted Request is: 09 03 07 D0 00 01 85 CF Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0001 Number of registers requested (1) 85CF Cyclic Redundancy Check (CRC) Response (if the activation ISNOT completed): 09 03 02 11 00 55 D5 Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) 1100 Content of register 07D0 (GRIPPERSTATUS= 0x11, RESERVED = 0x00): gACT = 1 for " Gripper Activation", gSTA = 1 for "Activationin progress" 55D 5 Cyclic Redundancy Check (CRC) Response (if the activation IScompleted): 09 03 02 31 00 4C 15 Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes) 3100 Content of register 07D0 (GRIPPERSTATUS= 0x31, RESERVED = 0x00): gACT = 1 for " Gripper Activation", gSTA = 3 for "Activationiscompleted" 4C15 Cyclic Redundancy Check (CRC) 56

Step 3:Move the robot to the pick-up location Step 4:Close the Gripperat full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 FFFFFF42 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 GRIPPEROPTIONS= 0x00): rACT = 1 for"Activate Gripper", rGTO = 1 for"Go to Requested Position" 00FF Value written to register 0x03E9 (GRIPPEROPTIONS2 = 0x00 and POSITION REQUEST = 0xFF): rPR= 255/255 forfull closing of the Gripper FFFF Value written to register 0x03EA (SPEED = 0xFFand FORCE = 0xFF): full speed and full force 4229 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) 57

Step 5:Read Gripperstatusuntil the grasp iscompleted Request is: 09 03 07 D0 00 03 04 0E Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) 040E Cyclic Redundancy Check (CRC) Example of response if the grasp isnot completed: 09 03 06 39 00 00 FF0E 0A F7 8B Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 3900 Content of register 07D0 (GRIPPERSTATUS= 0x39, RESERVED = 0x00): gACT = 1 for " Gripper Activation" , gGTO = 1 for " Go to Position Request" and gOBJ= 0 for"Fingersare inmotion" 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 GRIPPERSTATUSis valid. 0E0A Content of register 07D2 (POSITION = 0x0E, FINGERCURRENT = 0x0A): the position is 14/255 and the motor current is 100mA (these values will change during motion) F78B Cyclic Redundancy Check (CRC) 58

Example of response if the grasp iscompleted: 09 03 06 B9 00 00 FFBD 00 1D 7C Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) B900 Content of register 07D0 (GRIPPERSTATUS= 0xB9, RESERVED = 0x00): gACT = 1 for " Gripper Activation" , gGTO = 1 for " Go to Position Request" and gOBJ= 2 for"Fingershave 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 GRIPPERSTATUSis valid. BD00 Content of register 07D2 (POSITION = 0xBD, FINGERCURRENT = 0x00): the position is 189/255 (can be used to validate the size of the seized object) 1D7C Cyclic Redundancy Check (CRC) 59

Step 6:Move the robot to the release location Step 7:Openthe Gripperat full speed and full force Request is: 09 10 03 E8 00 03 06 09 00 00 00 FFFF72 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 GRIPPEROPTIONS= 0x00): rACT = 1 for"Activate Gripper", rGTO = 1 for"Go to Requested Position" 0000 Value written to register 0x03E9 (GRIPPEROPTIONS2 = 0x00 and POSITION REQUEST = 0x00): rPR= 0/255 forfull opening of the Gripper(partial opening would also be possible) FFFF Value written to register 0x03EA (SPEED = 0xFFand 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) 60

Step 8:Read Gripperstatusuntil the opening iscompleted Request is: 09 03 07 D0 00 03 04 0E Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register 0003 Number of registers requested (3) 040E Cyclic Redundancy Check (CRC) Example of response if the opening isnot completed: 09 03 06 39 00 00 00 BB 10 30 E0 Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) 3900 Content of register 07D0 (GRIPPERSTATUS= 0x39, RESERVED = 0x00): gACT = 1 for " Gripper Activation" , gGTO = 1 for " Go to Position Request" and gOBJ= 0 for"Fingersare inmotion" 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 GRIPPERSTATUSis valid. BB10 Content of register 07D2 (POSITION = 0xBB, FINGERCURRENT = 0x10): the position is 187/255 and the motor current is 160mA (these values will change during motion) 30E0 Cyclic Redundancy Check (CRC) 61

Example of response if the opening iscompleted: 09 03 06 F9 00 00 00 0D 00 56 4C Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Registers) 06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes) F900 Content of register 07D0 (GRIPPERSTATUS= 0xF9, RESERVED = 0x00): gACT = 1 for " Gripper Activation" , gGTO = 1 for " Go to Position Request" and gOBJ= 3 for"Fingersare 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 GRIPPERSTATUSis valid. 0D00 Content of register 07D2 (POSITION = 0x0D, FINGERCURRENT = 0x00): the position is 13/255 (the fingers have reached their software limit) 564C Cyclic Redundancy Check (CRC) Step 9:Loop backto step 3 if otherobjectshave to be grasped. 62

4.8. Control over TM 4.8.1.TM RobotsCompatibility with Robotiq Grippers Hardware Version TM FlowVersion TM GripperComponent Robotiq RS232 Converter HW1, HW2, HW3 1.68 and later 2F85_V004_XXX Compatible 4.8.2.Getting Started 1 Power ON the robot 2 Tap the triple bar icon in the upper left corner of the screen 63

3 Click on the Loginicon in the navigation pane on the left 4 Enter your credentials and click on OK. 64

5 Click on Get Control 6 Click on the triple bariconin the upper left corner of the screen and select Project 65

7 Click on the NewProject icon in the upper left corner of the screen 8 Enter a name for your program and click on the OK button. 66

4.8.3.TM Gripper Components Here is the list of the current Robotiq Gripper TM Components to install on TM Robots: l GRIPPER_ROBOTIQ_2FIN85_V004_SET.Component = SET the Gripper (Speed, Force, Position) l GRIPPER_ROBOTIQ_2FIN85_V004_GRIP.Component = CLOSE the Gripper (Action) l GRIPPER_ROBOTIQ_2FIN85_V004_RELEASE.Component = OPEN the Gripper (Action) l GRIPPER_ROBOTIQ_2FIN85_V004_CHANGEGRIPPER.Component = CHANGE the address of the Gripper/dual Gripper Installation 1 Download the TM Plug & Play Software Package compression files on the official website 2 Unzip the file at the root of a blank USB storage device 3 Rename the USB storage device " TMROBOT" 4 Insert the USB storage device in the robot controller 5 In TM Flow (robot software), tap the triple bar icon and select System Setting 67

8 Click on TMComponent in the Robot List window and click on OK 9 Click on the Component button of the Import navigation pane 69

10 Select the Components you want to import and click on the Import button 70

11 Tap the triple bariconand select Setting to display the Robot Setting window 12 Click on the Component icon 71

13 Enable required Componentsin the Components list by ticking the radio button beside each of them 14 A Component that is enabled displays a green radio button; once the Components are enabled, click on the Save button 72

15 Create a new project or open an existing project, and locate the Gripper components in the navigation pane 73

Gripper Button The user can assign Gripper Components to the Gripper button and use the latter to open and close the fingers of the Robotiq Gripper. 1 From the TM Flow homepage, tap the triple bariconand select the Setting icon 2 Click on GripperButton 74

3 In the GripperButtonwindow, tick the Using Customized Component radio button and select the Component you want to assign to either one of the Gripper actions 4 In the popup window, select or change the Component you wish to assign to the Gripper action/button, and click OK 75

Programming SET Component Component Icon Component Node 1 Drag and drop the SET Component icon after a program Gateway to place a SET program node (2FIN85_V004_SET1) 2 Tap the SET node to highlight it and click on the pencil to edit the settings Fig. 4-9: SET Node Settings Menu 76

Setting Variable Type Default Description Initialize_or_Not var_reset bool false Set True if you want to initialize the gripper in this node. If you only want to chenge gripping force, position or speed, you don't need to initialize the gripper (please set false) Grip_Setting var_grip_force % 50% Set gripping force 2F-85 0~100%=20~235N 2F-140 0~100%=10~125N var_grip_speed % 50% Set gripping speed 2F-85 0~100%=20~150mm/s 2F-140 0~100%=30~250mm/s var_grip_pos % 80% Set gripping position 2F-85 0~100%=0~85mm/s 2F-140 0~100%=0~140mm/s Release_Setting var_Release_force % 50% Set gripping force 2F-85 0~100%=20~235N 2F-140 0~100%=10~125N var_Release_speed % 50% Set gripping speed 2F-85 0~100%=20~150mm/s 2F-140 0~100%=30~250mm/s var_Release_pos % 80% Set gripping position 2F-85 0~100%=0~85mm/s 2F-140 0~100%=0~140mm/s ComPort_Setting var_ComPort int 1 Please set as Com1, Com2, Com3, following the com port to which you connect the gripper. 77

GRIP Component Component Icon Component Node 1 Drag and drop theGRIP Component icon after a program Gateway to place a GRIP program node (2FIN85_V004_GRIP1) 2 Tap the GRIP node to highlight it and click on the pencil to edit the settings Fig. 4-10: GRIP Node Settings Menu 78

Setting Variable Type Default Description Grip_Setting (SET Node) var_grip_force % 50% Set gripping force 2F-85 0~100%=20~235N 2F-140 0~100%=10~125N var_grip_speed % 50% Set gripping speed 2F-85 0~100%=20~150mm/s 2F-140 0~100%=30~250mm/s var_grip_pos % 80% Set gripping position 2F-85 0~100%=0~85mm/s 2F-140 0~100%=0~140mm/s RELEASE Component Component Icon Component Node 1 Drag and drop theRELEASE Component icon after a program Gateway to place a RELEASE program node (2FIN85_V004_RELEASE1) 2 Tap the RELEASE node to highlight it and click on the pencil to edit the settings 79

Fig. 4-11: RELEASE Node Settings Menu Setting Variable Type Default Description Release_Setting (SET Node) var_grip_force % 50% Set gripping force 2F-85 0~100%=20~235N 2F-140 0~100%=10~125N var_grip_speed % 50% Set gripping speed 2F-85 0~100%=20~150mm/s 2F-140 0~100%=30~250mm/s var_grip_pos % 80% Set gripping position 2F-85 0~100%=0~85mm/s 2F-140 0~100%=0~140mm/s 80

CHANGEGRIPPER Component Component Icon Component Node 1 Drag and drop theCHANGEGRIPPER Component icon after a program Gateway to place a CHANGEGRIPPER program node (2FIN85_V004_CHANGEGRI) 2 Tap the CHANGEGRIPPER node to highlight it and click on the pencil to edit the settings 81

Setting Variable Type Default Description Change_Gripper Var_Slave_ID int 9 Select the Slave ID as the current gripper Info Use the Robotiq User Interface to change the Modbus Slave ID Address of the second gripper when using a dual gripper (Default = 9). 82

Changing the Modbus Slave ID The user can change the Modbus Slave ID of a Robotiq Gripper via the Robotiq User Interface. Installer Browse to the support page of the Gripper in the Software section to download the RUI installer (.exe). Robotiq UserInterface Browse to the support page of the Gripper, in the Documents section, to access or download the instruction manual of the Robotiq User Interface (RUI)for information on the installation and control of the RUI. 1 First, click on the ModbusRTU Parameterstab 83

2 Change the Slave ID of the Gripper by typing in the corresponding box 3 Click on the Apply button 4 Perform a power cycle (24 V)while the USB device remains connected. 84

Visit support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. See the instruction manual of the Robotiq User Interface for more details. 2F-85 & 2F-140 - Instruction Manual 85

The following subsections provide data on the various specifications for the Robotiq 2-Finger 85 and 140 Adaptive Grippers. l Section 6.1 lists the technical dimensions of the Grippers l Dimensions for custom (blank)coupling l Dimensions of all available couplings l Dimensions for custom fingertip l Dimensions of all available fingertips l Section 6.2 presents the mechanical specifications of the Grippers. l Section 6.3 gives electrical specifications for the Grippers. 2F-85 & 2F-140 - Instruction Manual 86

6.1. Technical dimensions The 2-Finger 85 and 2-Finger 140 share the same basic chassis and thus have the same technical dimensions for everything except the fingers. Figure 6-1 represents the Robotiq 2-Finger 85 Adaptive Robot Gripper's dimensions with axis X, Y, Zand origin referenced for finger motion. Figure 6-3 will show the equivalent with 140 mm fingers (2-Finger 140). Info All technical drawings in the present section are shown with silicone flat fingertip option: AGC-TIP-204-085 (2-Finger 85)or AGC-TIP-420-140 (2- Finger 140). Fig. 6-1: 2F-85 general dimensions (opened). As mentioned in the figure above, height and width of the fingers vary with opening position. Figure 6-1 represents the 2F-85 Gripper in the opened position (position request = 0), while Figure 6-2 represents the 2F-85 Gripper in the closed position (position request = 255). 87

Fig. 6-4: 2F-140 dimensions (closed). As mentioned in the figure above, the height and width of the fingers vary with opening position. Figure 6-3 represents the 2F-140 Gripper in the opened position (position request = 0), while Figure 6-4 represents the 2F-140 Gripper in the closed position (position request = 255). 90

6.1.1.Couplings The Robotiq 2-Finger Adaptive Robot Gripper requires a coupling provided by Robotiq to operate. The coupling is mandatory since it integrates electronics and electrical contacts. Info The coupling is common to both the 2F-85 and the 2F-140. Blank coupling Below are the dimensions of the blank coupling, AGC-CPL-BLANK-002 (refer to the Spare Parts, Kitsand Accessoriessection), available to create a custom bolt pattern. Blue section can be fully customized (holes can be place in any part of this section)while the grey section can only be worked to a depth of 3 mm. Fig. 6-5: Blank coupling AGC-CPL-BLANK-002 workable area dimensions. 91

Coupling for ISO 9409-1-50-4-M6 Bolt pattern for coupling AGC-CPL-062-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with : l 50 mm pitch circle diameter : l (4)M6-1.0 low head socket cap screw clearance l (1)M6 indexing pin l ISO 9409-1 standard 50-4-M6 Fig. 6-6: Coupling for ISO 9409-1-50-4-M6. 92

Coupling for ISO 9409-1-31.5-4-M5 Bolt pattern for coupling AGC-CPL-063-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with : l 31.5 mm pitch circle diameter : l (4)M5-0.8 low head socket cap screw clearance l (1)M5 indexing pin l ISO 9409-1 standard 31.5-4-M5 Fig. 6-7: Coupling for ISO 9409-1-31.5-4-M5. 93

Coupling for ISO 9409-1-40-4-M6 Bolt pattern for coupling AGC-CPL-064-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with : l 40 mm pitch circle diameter : l (4)M6-1.0 low head socket cap screw clearance l (1)M6 indexing pin l ISO 9409-1 standard 40-4-M6 Fig. 6-8: Coupling for ISO 9409-1-40-4-M6. 94

Coupling for PCD 56 with 8 x M4 Bolt pattern for coupling AGC-CPL-065-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with : l 56 mm pitch circle diameter : l (8)M4-0.7 low head socket cap screw clearance l (1)M4 indexing pin l 62 mm diameter internal insert Fig. 6-9: 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. 95

Coupling for PCD 56 with 6 x M4 Bolt pattern for coupling AGC-CPL-066-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with: l 56 mm pitch circle diameter: l (6)M4-0.7 low head socket cap screw clearance l (1)M6 indexing pin l 42 mm diameter external insert Fig. 6-10: Coupling for PCD 56 mm with 6 x M4 clearance. 96

Coupling for PCD 60 with 4 x M5 Bolt pattern for coupling AGC-CPL-067-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with : l 60 mm pitch circle diameter : l (4)M5-0.8 low head socket cap screw clearance l (1)M5 indexing pin l 34 mm diameter external insert Fig. 6-11: Coupling for PCD 60 mm with 4 x M5 clearance. 97

Coupling for PCD 63 with 6 x M6 Bolt pattern for coupling AGC-CPL-068-002 (refer to the Spare Parts, Kitsand Accessoriessection)is compatible with : l 63 mm pitch circle diameter : l (6)M6-1.0 low head socket cap screw clearance l (2)M6 indexing pins Fig. 6-12: Coupling for PCD 63 mm with 6 x M6 clearance. 98

6.1.2.Fingertips The contact grasp points for the Robotiq 2-Finger Adaptive Robot Gripper are its two fingertip pads and palm pad. Many fingertips are available from Robotiq (refer to the Spare Parts, Kitsand Accessoriessection). The user can customize their own fingertips from blanks or create them from scratch. The figure below represents the distal phalanx (which acts as the fingertip holder)the permanent, non customizable part of the Gripper finger on which the fingertip must be mounted. Custom fingertip designs must abide by the following: l Fingertip must not exceed 100 mm in height from the fingertip's base. l Fingertip must not exceed 100 mm in width from the fingertip's base (refer to Y axis from figure 6-18). l Refer to the Mechanical specificationssection to evaluate the grasp force according to your fingertip design. l Applied forces to the gripper must not exceed moment and force limits detailed in the Moment and force limitssection. Info Both 2-Finger 85 and 2-Finger 140 use the same fingertips and finger holder. Fig. 6-13: Distal phalanx for holding standard or custom fingertips. Tip Custom fingertips will still be subject to the equilibrium line rule for proper actuation of the Gripper, see General Presentation section. 99

Flat silicone fingertip The figure below represents a flat silicone fingertip AGC-TIP-204-085 (2F-85)and AGC-TIP-420-140 (2F-140); please refer to the Spare Parts, Kitsand Accessoriessection. This fingertip has a flat silicone surface with an optimal friction coefficient for picking objects while the other surface will mount onto the fingertip holder shown in the Fingertipssection. Fig. 6-14: Flat silicone fingertip AGC-TIP-204-085 Fig. 6-15: Flat silicone fingertip AGC-TIP-420-140