Lean Robotiq 2F-85 Manuale utente

Robotiq 2F-85 & 2F-140

for Universal Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Table of Contents

Revisions 4

1. General Presentation 8

1.1. Gripper nomenclature 9

1.2. 2F-85 vs. 2F-140 10

1.3. Object picking 11

1.4. Setup and control 14

2. Safety 15

2.1. Warning 16

2.2. Intended Use 16

3. Installation 17

3.1. Scope of Delivery 18

3.2. Required Tools and Equipment 19

3.3. Environmental and Operating Conditions 21

3.4. Mechanical Installation 21

3.5. Electrical Setup 31

3.6. Testing the Gripper with the Robotiq User Interface (RUI) 36

3.7. Installation for Universal Robots 37

3.8. URCap Package 38

4. Control 47

4.1. Overview 47

4.2. Gripper Register Mapping 49

4.3. Robot Output Registers &Functionalities 50

4.4. Robot Input Registers &Status 54

4.5. Picking Features 58

4.6. Control Logic Example 65

4.7. Modbus RTUCommunication 66

4.8. 2F-85 & 2F-140 Gripper and I/O Coupling communication 81

4.9. Control over Universal Robots 82

5. Specifications 115

5.1. Technical dimensions 116

2F-85 &2F-140 - Instruction Manual

5.2. Mechanical specifications 123

5.3. Electrical specifications 130

6. Maintenance 131

6.1. Gripper cleaning 133

6.2. Periodic inspection 134

6.3. Fingertip replacement 135

6.4. Overhaul 136

7. Spare Parts, Kits and Accessories 137

8. Troubleshooting 141

8.1. Using the LEDof the 2F-Finger gripper 141

8.2. Using the LEDof the USB to RS485 converter 142

8.3. Using the Robotiq User Interface (RUI) 142

8.4. Troubleshooting Universal Robots Models 143

9. Warranty andPatent 145

9.1. I/O Coupling Warranty 146

10. Harmonized Standards, Declarations and Certificates 148

10.1. Translation of original EC declaration of incorporation 148

10.2. Applied standards 149

10. LicenseAgreement 150

11. Contact 153

2F-85 &2F-140 - Instruction Manual

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.

Revision 2020/02/11

lMajor Revision:

lFused sections that were exclusive to e-Series or to CB-Series , to be displayed in a single Instruction Manual

lMultiple modifications to standardize with our other manuals

Revision 2019/10/10

lUpdate of the I/O Coupling sections

lAddition of the Electrostatic Discharge Safety section

Revision 2019/07/25

Addition of the I/O Coupling section.

Revision 2019/06/21

Updated Section 4.8 to add Gripper Configuration section.

Revision 2019/05/17

Environmental and Operating Conditions updated.

Revision 2019/03/13

Updated mechanical specifications (section 6.2)

Revision 2018/11/07

New major revision of the Gripper hardware

lAll external visual supports changed to reflect the hardware changes

lUpdated Section 1

lUpdated Section 3

lUpdated Section 4

lUpdated Section 6

lUpdated Section 7

lUpdated Section 8

lUpdated Section 9

2F-85 &2F-140 - Instruction Manual

Revision 2018/09/11

lUpdated Section 3 according to the robot used (CB-Series vs. e-Series)

lUpdated Section 4

lInput &Output Registers

lControl over Universal Robots depending on the robot software used (PolyScope 3.6 and later version vs. PolyScope 5.0 and

later versions)

lAdded LEDand move functions to the list of available functions

lUpdated Section 8 with new spare parts, kits and accessories

Revision 2018/05/23

lMajor update following the release of UCG-1.2.0

lNew subsections in Section 4: Control

lGripper Dashboard

lGripper Calibration menu and Calibration wizard for object validation

Revision 2017/06/06

Added section:

l4.8.2.1 Multiple Grippers

Revised sections:

l3.8.1 Installation procedure for URCaps

l4.8.1 Gripper Toolbar

Revision 2016/07/04

Major revision : Updated for URcaps release Section added :

l3.8 URCaps Package

l3.9 UR Package without URCaps

l4.8 Control over Universal Robots with URCaps

l4.9 Control over Universal Robots without URCaps

Revision 2015/09/15

Major revision : Updated for 2-Finger 140

Revision 2015/07/21

Section added :

l4.5 Picking features : Force control, re-grasp and object detection.

lA. Harmonized standards, declarations and certificates

Minor modifications :

lSection 1. General Presentation

lSection 3.7 Universal Robots package

2F-85 &2F-140 - Instruction Manual

Revision 2014/11/05

Modification for Robotiq 2-Finger 85 Adaptive Robot Gripper version 3

Revision 2014/07/22

Modification for use on Robotiq Universal Controller

Minor modifications : User Interface section, maintenance section

Revision 2013/02/06

Section added : Couplings ISO models and Baxter robots Minor modifications

Revision 2013/02/06

Section added : Communication with UR robots Minor modifications

Revision 2012/10/18

Official release

Revision 2012/03/02

Beta release

2F-85 &2F-140 - Instruction Manual

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.

1. General Presentation

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 Gripper.

Info

The following manual uses the metric system, unless specified, all dimensions are in millimeters.

Info

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.

2F-85 &2F-140 - Instruction Manual

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 which simplifies the control of the gripper.

Fig. 1-1: Robotiq 2-Finger Adaptive Gripper.

Please refer to the Spare Parts, Kits and Accessories section for details on standard and optional parts.

The status LED presented in the figure above will be :

lsolid blue/red when booting

lsolid blue when powered with no errors (while communication is active)

lsolid red if minor fault occurs, see status details in the Control section.

lblinking red/blue if major fault occurs, see status details in the Control section.

2F-85 &2F-140 - Instruction Manual

1.2. 2F-85 vs. 2F-140

The 2-Finger Gripper has two configurations either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140). The chassis

remains the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions. Finger kits

are available in the Spare Parts, Kits and Accessories section.

Info

Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications) can be found in the Specifications section.

Fig. 1-2: The 2-Finger 85 and 140 mm versions.

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