ROBOTIQ HAND-E Manuale utente

Robotiq Hand-E

for OMRON-TMSeries Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Robotiq Hand-E Gripper Instruction Manual

Revisions 4

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 17

3.3. Environmental and Operating Conditions 18

3.4. Mechanical Installation 19

3.5. Electrical Setup 26

4. Control 31

4.1. Overview 31

4.2. Gripper Register Mapping 33

4.3. Robot Output Registers &Functionalities 34

4.4. Robot Input Registers andStatus 36

4.5. Picking Features 40

4.6. Control Logic Example 43

4.7. Modbus RTUCommunication 43

4.8. Hand-E Gripper and I/O Coupling communication 57

4.9. Control over OMRON TM 58

5. Specifications 78

5.1. Technical dimensions 79

5.2. Mechanical Specifications 85

5.3. Electrical specifications 91

6. Maintenance 92

6.1. Gripper cleaning 94

6.2. Periodic inspection 95

Robotiq Hand-E Gripper Instruction Manual

6.3. Rack &pinion mechanism cleaning 96

7. Spare Parts, Kits and Accessories 98

8. Troubleshooting 102

8.1. Using the Robotiq User Interface (RUI) 102

8.2. Troubleshooting OMRONTM Models 102

9. Warranty andPatent 103

9.1. I/O Coupling Warranty 104

10. Harmonized Standards, Declarations and Certificates 106

10.1. EC declaration of incorporation 106

10.2. Applied standards 107

10.3. Ingress Protection Certificate 108

11. License Agreement 109

12. Contact 112

Robotiq Hand-E Gripper 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 robotiq.com/support.

Revision 2021/07/01

lSection "Installation"

lAdded section 3.4.4 "Installing Fingertip Extenders on the Gripper"

lUpdated subsection 3.4.1 "Single Gripper Installation"

lSection "Specifications"

lUpdated subsection 5.1.3 "Fingertips Extenders", maximum opening is now 98 mm

lUpdated section 5.2.1

lUpdated section 5.2.3

lSection "Spare Parts, Kits and Accessories"

lHand-E SKUis now HND-GRP

Revision 2020/05/28

lMinor Revision:modifications to standardize our manuals

lSection "Warranty and Patent"

lCycle count is now 5 000 000.

lConsumable parts are now excluded of the warranty.

lSection "Specifications"

lUpdated subsection "Mechanical Specifications"

lUpdated subsection "Electrical Specifications"

lUpdated subsection "Technical Dimensions"

lSection "Harmonized Standards, Declarations and Certificates"

lUpdated subsection "EC declaration of incorporation"

lUpdated subsection "Applied Standards"

Revision 2019/12/19

lSection "Control"

lUpdated text and images in subsection "TMGripper Components" with current names of TMcomponents

lRevised data on register and bits in subsection "Modbus RTUCommunication"

Robotiq Hand-E Gripper Instruction Manual

lSection "Specifications"

lUpdated subsection "Mechanical Specifications"

lUpdated subsection"Couplings"

lSection "Troubleshooting"

lRewrote section, formatted troubleshooting instructions in tables

lAdded subsection "Troubleshooting with RUI"

lAdded subsection "Troubleshooting OMRONTM Models"

lRemoved Section 5: User Interface

Revision 2019/11/06

Addition of the OMRON Robots Wrist Connection Kit (I/O Coupling)

Revision 2019/10/10

lAddition of the Electrostatic Discharge Safety section

Revision 2019/05/03

lUpdated environmental and operating conditions (Section 3.3)

Revision 2019/03/13

lUpdated mechanical specifications (Section 6.2)

Revision 2019/02/19

lUpdated Sections 4 and 6 to modify the grip force

Revision 2018/12/10

lFirst publication of the Instruction Manual.

Robotiq Hand-E Gripper 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", "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.

Info

This manual uses the metric system. Unless otherwise 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.

Robotiq Hand-E Gripper Instruction Manual

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.

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.

Robotiq Hand-E Gripper Instruction Manual

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 Installing the Gripper 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.

Robotiq Hand-E Gripper Instruction Manual

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.

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