ROBOTIQ 2F-85 Manuale operativo e di manutenzione

Robotiq 2F-85& 2F-140

for TM Robots

InstructionManual robotiq.com | leanrobotics.org

Original Notice

Tableof Contents

Revisions 5

1. GeneralPresentation 7

1.1. Grippernomenclature 8

1.2. 2F-85vs. 2F-140 9

1.3. Object picking 10

1.4. Setupandcontrol 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. RequiredToolsandEquipment 18

3.3. Environmentaland OperatingConditions 19

3.4. MechanicalInstallation 20

3.4.1. Installing fingerson the Gripper 20

3.4.2. Installing the fingertipson the Gripper 21

3.4.3. Installing aProtector Kit on the Gripper Fingers 22

3.4.4. Installing the Gripper onto the robot 22

SingleGripper 22

Multiple Grippers 23

3.5. ElectricalSetup 24

3.5.1. Pinout Interface 26

3.5.2. Coupling to controller 26

SingleGripper 28

Multiple Grippers 28

4. Control 30

4.1. Overview 30

4.2. GripperRegisterMapping 32

2F-85& 2F-140-Instruction Manual

4.3.RobotOutputRegisters& Functionalities 33

4.4.RobotInputRegisters& Status 36

4.5. PickingFeatures 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 registersFC23 52

4.7.6. Modbus RTU example 54

4.8. ControloverTM 63

4.8.1. TM RobotsCompatibilitywith Robotiq Grippers 63

4.8.2. Getting Started 63

4.8.3. TM Gripper Components 67

Installation 67

GripperButton 74

Programming 76

SET Component 76

GRIP Component 78

RELEASE Component 79

CHANGEGRIPPER Component 81

Changing theModbus Slave ID 83

5. UserInterface 85

6. Specifications 86

6.1. Technicaldimensions 87

6.1.1. Couplings 91

Blankcoupling 91

Coupling forISO 9409-1-50-4-M6 92

Coupling forISO 9409-1-31.5-4-M5 93

2F-85& 2F-140-Instruction Manual

Coupling forISO 9409-1-40-4-M6 94

Coupling forPCD 56with8 xM4 95

Coupling forPCD 56with6 xM4 96

Coupling forPCD 60with4 xM5 97

Coupling forPCD 63with6 xM6 98

6.1.2. Fingertips 99

Flat siliconefingertip 100

Grooved fingertip 101

6.2. Mechanicalspecifications 102

6.2.1. Payload and force 103

Frictiongrasp and form-fit grasp 105

Maximum payload bygrasp 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

2F-85& 2F-140-Instruction Manual

Revisions

Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin

specifications.If such modification ismade,themanual will also be revised,seerevision information.Seethelatest versionof this

manual onlineat 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 InstructionManual

2F-85& 2F-140-Instruction Manual

Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational

treaties,and thereforemaynot be reproduced in whole or inpart,whetherfor saleor not,without prior written consent from Robotiq.

Undercopyright law,copying includestranslation into anotherlanguageorformat.

Information provided byRobotiq inthisdocument isbelieved to beaccurate and reliable.However,no responsibilityisassumed by

Robotiq foritsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe

editiondate.

Theinformationcontained inthisdocument issubject to changewithout notice.

1.General Presentation

Theterms"Gripper","AdaptiveGripper","Robotiq Gripper","Robotiq AdaptiveGripper","2-Finger85","2-Finger140","2F-85"

and "2F-140" used inthefollowing manual all referto theRobotiq 2-FingerAdaptiveRobot Gripper.The Robotiq 2-FingerAdaptive

Gripperhastwo versions,85and 140.The2-Fingerversionwill change fingeropening dimensions,whichwill be85mm (2F-85)or

140 mm (2F-140).Bothversionsuse thesamebase,installationand control will beexactlythesame.The2-FingerGripperisarobotic

peripheral that is designed for industrial applications.Its design makesit auniqueroboticend-of-arm tool to quicklypick,place and

handlealargerangeof objectsof varying sizesand shapes.

Info

Unlessspecified,information in thismanual appliesto boththe 85 and the140 mm version of the2-FingerAdaptive Robot

Gripper.

Info

Thefollowing manual usesthemetricsystem,unlessspecified,alldimensionsare inmillimeters.

Info

Thefollowing section presentsthekeyfeaturesof thegrasp-typegripperand must not beconsidered asappropriate to the

gripperoperation,eachfeatureisdetailed in theappropriatesectionof themanual.Safetyguidelinesmust beread and

understood beforeanyoperation isattempted withthe grasp-typegripper.

2F-85& 2F-140-Instruction Manual

1.1.Grippernomenclature

The2-FingerGripperhastwo articulated fingersthat eachhave two joints(two phalanxesperfinger),asshown inthefigurebelow.The

grasp-typegrippercanengageup to fivepointsof contact withanobject (two on eachof thephalangesplusthepalm).Thefingersare

under-actuated,meaning theyhave fewermotorsthanthetotal numberof joints.Thisconfigurationallowsthefingersto automatically

adapt to theshapeof theobject theygrasp and it also simplifiesthecontrol of thegrasp-typegripper.

Fig.1-1:Robotiq 2-FingerAdaptiveGripper.

Pleasereferto theSpare Parts,Kitsand Accessoriessection for detailson standard and optional parts.

2F-85& 2F-140-Instruction Manual

1.2.2F-85vs.2F-140

The2-FingerGrippercomeswith either85mm opening (2-Finger85)or 140mm opening (2-Finger140)according to thefigure below.

Thechassiswill remainthesame,onlythefingerswill change.Pleasereferto theMechanicalInstallationsection forinstallation

instructions.FingerkitsareavailableintheSparePartsand Accessoriessection.

Info

Detailsonthe2-Finger85and 2-Finger140(dimensionsand specifications)canbefound intheSpecificationssection.

Fig.1-2:The2-Finger85and 140 mm versions.

2F-85& 2F-140-Instruction Manual

1.3.Object picking

The2-FingerGripperhasasingle actuatorfor opening and closing thefingers,thefingersautomaticallyadapt to theshapeof the

object manipulated.

Fingerswill adopt eitheraparallel grasp orencompassing grasp asshown inthefigurebelow.

Info

Closing oropening isdoneviathe"Go to requested position" command and isinput to theGripperWhetherthe fingers

close to produce anemcompassing orfingertip grasp isdecided at the Gripperlevelautomatically.It will depend on:

lTheobjects'sgeometry;

lTherelativepositionof theobject with respect to theGripper.

In otherwords,picking thesameobject could result ineither anemcompassing orfingertip grasp based onanobject's

positionand geometry.

Fig.1-3:2-Fingerparallel and encompassing grips.

Info

It isimportant to notethat a fingertip grasp canonlybeperformed whenthefingerstouchtheobject with theuppersection

of thedistal phalanxesfirst.Inversely,for anencompassing grip,thefingersmust touch theobject withtheproximal or the

lowersection of thedistal phalanxes first. Also,to ensure stability,theobject should be held against theGripperpalm while

performing anencompassing grip.Referto thefigure belowfor avisual representation of theparallel and encompassing

grasp regionsonthedistal phalanxof the2-FingerGripper.

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