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Robotiq 2-Finger Adaptive Robot Gripper - 200

Instruction Manual

Robotiq inc. © 2008-2013

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4.10 MODBUS TCP-IP communication protocol

The Robotiq 2-Finger Adaptive Robot Gripper – 200 can be controlled using the Modbus TCP/IP protocol (note that
this is an option). This section is intended to provide guidelines for setting up a Modbus TCP/IP communication to
adequately send commands and read input from the Gripper.

For a general introduction to Modbus TCP/IP and to understand its differences from Modbus RTU, the reader is
invited to read the information provided on the following website:

http://www.simplymodbus.ca/TCP.htm

4.10.1 Connection Setup

The following table describes the connection requirements for controlling the Gripper using the Modbus TCP/IP
protocol.

Connection requirement

Value

Required protocol

Modbus TCP/IP

Port

502

Gripper IP address

Configurable (most Grippers are shipped with the

192.168.1.X address)

Supported Functions

Read Input Registers (FC04)

Preset Multiple Registers (FC16)

UnitID

0x0002 (2)

Robot Output / Gripper Input First Register

0x0000 (0000)

Robot Input / Gripper Output First Register

0x0000 (0000)

Each register (word - 16 bits) of the Modbus TCP/IP protocol is composed of registers (bytes – 8 bits) from the

2

Gripper. The first Gripper output Modbus register (0x0000) is composed from the first Robotiq 2-Finger Adaptive

2

Robot Gripper – 200 registers (byte 0 and byte 1).

Caution

For safety reasons, communication with the Gripper must stay open during operation, shutting
down communication will stop the Gripper.

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Summary of Contents for 2-Finger Adaptive Robot Gripper - 200

Page 1: ...1 ROBOTIQ INC 2008 2013 Get the latest version of the manual at support robotiq com ...

Page 2: ...us 47 4 8 Example 51 4 9 MODBUS RTU communication protocol 52 4 9 1 Connection setup 52 4 9 2 Read holding registers FC03 53 4 9 3 Preset multiple registers FC16 54 4 9 4 Master read write multiple registers FC23 55 4 9 5 Modbus RTU example 57 4 10 MODBUS TCP IP communication protocol 66 4 10 1 Connection Setup 66 4 10 2 Read Input Registers FC04 67 4 10 3 Preset Multiple Registers FC16 68 4 10 4 ...

Page 3: ...l 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 ...

Page 4: ...d and understood before any operation is attempted with the Gripper The 2 Finger Adaptive Robot Gripper 200 is an electric robot peripheral that is designed for industrial applications featuring high grip force rugged design and sealed casing Its design makes it a unique robotic end of arm tool to quickly pick place and handle a large range of parts of varying sizes and shapes The Gripper has two ...

Page 5: ...4 Pad design and customization Adapter mechanical connection and custom design guidelines are in sections and 3 3 Mechanical connection 3 3 2 Dimension for custom Adapter Details on the power wiring and communication wiring can be found in section and its subsections 3 5 Wiring The 2 Finger Gripper has a single electric actuator for opening and closing the fingers the fingers automatically adapt t...

Page 6: ...to requested position command and is input to the Gripper Whether the fingers close to produce an encompassing or fingertip grip is decided at the It will depend on Gripper level automatically The part s geometry The relative position of the part with respect to the Gripper In other words picking the same part could result in either an encompassing or fingertip grip based on a part s position and ...

Page 7: ...t Gripper 200 parallel locking mechanism The 2 Finger Adaptive Robot Gripper 200 also offers internal and external gripping The fingers can pick hollow parts by applying pressure with the outside of the fingers See Figure 1 4 for representation and see for section 4 6 details on the possible position commands for your Gripper ...

Page 8: ... force with the inside or the outside of the fingers but beware that surface contact may not be the same The Gripper is powered and controlled via the Robotiq Controller 2 Finger Adaptive Robot Gripper 200 Controller Figure 1 5 Upon delivery your controller will be set with the adequate communication option and ready to use The details on the controller wiring and usage are described in and sectio...

Page 9: ...When gripping an object close enough to the inside palm of the Gripper the encompassing grip will occur unless the object size or shape is not adequate and the fingers will close around the object If gripped above the equilibrium zone the same object will be picked up in a parallel grip and the fingers will close with a parallel motion The following Figure 1 6 shows the the and the encompassing gr...

Page 10: ...assing grip region becomes the parallel grip region and vice versa Info The equilibrium zone will remain the same even with custom made fingers Hint Picking an object directly in the desired region is a good way of predicting the grip mode that will occur when contact is on the equilibrium zone small variations in the size of the part and the position of the Gripper will result in different grippi...

Page 11: ...ponsible for any of the following operations on the 2 Finger Adaptive Robot Gripper 200 Installation Control Maintenance Inspection Calibration Programming Decommissioning This documentation explains the various components of the 2 Finger 200 and general operations regarding the whole lifecycle of the product from installation to operation and decommissioning The drawings and photos in this docume...

Page 12: ...ply is connected Never grasp onto uncovered mechanisms Never grasp between fingers Keep fingers and clothes away from the Gripper while the power is on Do not use the Gripper on people or animals Be sure no one is in the robot or Gripper path before initializing the robot s routine Gripper has a passive self locking mechanism even when the power supply is disconnected but there is a risk of slippi...

Page 13: ...cts or surfaces The product is intended for installation on a robot or other automated machinery and equipment Note 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 and specifications Any other use of the product is deemed improper and unintended use Robotiq will...

Page 14: ...obot safety instructions Gripper 200 prior to installation Warning Do not operate the Gripper or even turn on the power supply before it is firmly anchored and danger zone is cleared The Gripper s fingers may move and cause injury or damage Note Unless specified every fixture replacement parts adapter options etc in the following manual use ISO 4762 DIN 912 Socket Head Cap Screws ...

Page 15: ...P communication protocol ECAT EtherCAT communication protocol DNET DeviceNet communication protocol CANO CANopen communication protocol Gripper cable between the 2 Finger Adaptive Gripper 200 and it s controller unit CBL COM Y2062 USB cable for reconfiguration of the 2 Finger Adaptive Gripper 200 controller CBL USB Y2057 Note The following are not included on delivery Hardware required for any opt...

Page 16: ...ronmental conditions Minimum storage transit temperature 22 F 30 C Maximum storage transit temperature 140 F 60 C Minimum operating temperature 14 F 10 C Maximum operating temperature 122 F 50 C Humidity non condensing 20 80 RH Vibration 0 5G Others Free from dust soot or water 1 Free from corrosive liquids or gases Free from explosive liquids or gases Free from powerful electromagnetic interferen...

Page 17: ...8 Attach the Coupling to the Gripper by aligning the indexing dowel pins with the associated holes All dowel pins are 8 m6 x 20 standard stainless steel Ø Y 997 Dowel pins must be press fitted in the Coupling Secure the Gripper with coupling screws socket head cap screws M8 x 40 Y 830 Screw the Coupling to your robot arm with the robot side screws socket head cap screws M8 x 30 Y 829 With optional...

Page 18: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 18 Figure 3 3 2 2 Finger Adaptive Robot Gripper 200 Controller Unit fixed on DIN rails ...

Page 19: ...igure 3 3 1 1 to lock or unlock the mechanism and Accessories Info Note that locking the mechanism will not alter the stroke of the Gripper or the cinematic of the fingers only the encompassing grip will be prevented from activating and only parallel grasping will be possible What you need 2 12 mm stainless steel axles parallelism locking kit B 022 AGB KIT B022 4 12 mm external retaining rings par...

Page 20: ...ger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 20 Warning Retaining rings can cause injury if they slip out of retaining ring pliers Wear safety goggles when manipulating the retaining rings ...

Page 21: ...Adaptive Robot Gripper 200 dimensions for custom coupling The Gripper must be fixed with at least four 4 of the six 6 M8 screws available on each side of the Gripper to ensure a secure attachment Hint Use M8 screw length according to your design total length must cover Your coupling plate depth 8 mm for the chassis cover The Gripper chassis M8 hole depth ...

Page 22: ...g table shows the specifications regarding the power supply required to operate the Gripper properly Specification Value Output voltage 24 V DC Output current 20A Ripple 2 3 peak peak Output regulation 2 maximum Overvoltage protection Not required1 1 The Gripper has built in over voltage protection Robotiq recommends the use of the following power supply TDK Lambda DPP480 Series 480W Single Output...

Page 23: ... Communication port shown in figure 3 5 1 and Supply port shown in figure 3 5 2 The Gripper is connected to the controller via a single Gripper Signal Cable shown in figure 3 5 3 which connect onto the Robotiq Device port Info Note that the Communication Option Panel shown in figure 3 5 1 will change according to the provided communication protocol The Standard Panel which include the Status LEDs ...

Page 24: ...Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 24 Figure 3 5 2 Controller supply connection and Robotiq Device connector for the Robotiq 2 Finger Adaptive Robot Gripper 200 Controller ...

Page 25: ...ot Gripper 200 Info Gripper signal cable is supplied by Robotiq see section Spare Parts Kits and Accessories 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 of the cable with a strain relief cable clamp ...

Page 26: ...re 3 5 1 1 Figure 3 5 1 1 Power connection diagram of the 2 Finger Adaptive Robot Gripper 200 Caution The fuse is external to the Gripper and Gripper Controller It is not provided by Robotiq and the user is responsible for proper installation Suggested fuse is 10 A Phoenix Contact 0916610 thermal use AWG 12 wiring The pin out for the power connectors is detailed in Figure 3 5 1 2 ...

Page 27: ...Installed in compliance with the Machinery Directive or compliance to national standards derived from the directive used in your country Warning Robotiq strongly advised the use of an emergency stop switch on the power connector The emergency stop must be in proximity of the work zone easily reachable and visible Info When not using an emergency stop see diagram Figure 3 5 1 1 jumper must be place...

Page 28: ...ol Note Only one protocol option is available for a given Controller unit Family Protocol Real Time Ethernet EtherNet IP Modbus TCP IP EtherCAT Fieldbus DeviceNET CANopen USB Modbus RTU The figure 3 5 2 1 shows the communication side of the Robotiq Adaptive Gripper 2 Finger 200 Controller The communication port will vary depending on the communication protocol chosen Real Time Ethernet family prot...

Page 29: ... Finger 200 Controller It is the users responsibility to setup the right cable between the controller unit and the master controller Robotiq can provide you with appropriate cables See section for a list of available parts Spare Parts Kits and Accessories Warning Be sure to use the appropriate cables and pin outs for your communication protocol as any other setup may damage the Gripper ...

Page 30: ...protocol for the receptacle Cubicon male present on the 2 Finger Adaptive Robot Gripper 200 Caution There is no terminating resistor mounted in the Gripper The shield for the cable must be grounded in the robot controller The DeviceNet communication and the Gripper use 24 V power supply Robotiq suggests you separate power supplies as shown in Figure 3 5 2 2 Figure 3 5 2 2 Power connection diagram ...

Page 31: ...ndor ID 283 0x0000011B Product Code 35 0x00000023 Serial Number 0 0x00000000 Product Type 12 0x0000000C Major Revision 1 Minor Revision 1 Product Name AG DNS AG DNS BUS SETTINGS MAC ID 11 Baud Rate 250 kBaud DATA SETTINGS Prod Data Length 6 Cons Data Length 6 Hint Mac Address settings and Baud Rate settings can be set on the Robotiq Controller using the Robotiq UI See the section for details User ...

Page 32: ... the robot controller Factory settings for CANopen protocol IDENTIFICATION SETTINGS Info Decimal value base 10 Hexadecimal value base 16 Vendor ID 68 0x00000044 Product Code 1541540 0x001785A4 Revision Number 131072 0x00020000 Serial Number 0 0x00000000 BUS SETTINGS Node Adress 11 Baud Rate 1 MBaud DATA SETTINGS Index Size Send Object 0x2000 128 Receive Object 0x2200 128 Output Databytes 512 Hint ...

Page 33: ...r Adaptive Robot Gripper 200 Controller 3 5 2 1 Note All Ethernet family protocols use the same RJ45 port Caution The crossover on the RX TX signals is made inside the Gripper Factory settings for each Ethernet protocol EtherCAT EtherNet IP Modbus TCP IP IDENTIFICATION SETTINGS Vendor ID 0x0000FFFF Vendor ID 0x0000011B N A Product Code 0x0000000B Product Code 0x0000010D Serial Number 0x00000000 Pr...

Page 34: ...s on Full Duplex Enabled Full Duplex always on Auto neg Enabled Auto neg always on Assembly Instance input 101 Assembly Instance output 100 Configuraton Instance 1 Connection Type Run Idle Header EtherCAT EtherNet IP Modbus TCP IP DATA SETTINGS Input Data Bytes 6 Prod Data Length 10 N A Output Data Bytes 6 Cons Data Length 10 N A Hint IP Address settings and Netmask settings can be set on the Robo...

Page 35: ...orce and the speed of the fingers The fingers movement is always synchronized movement is done with a single Go to requested position command the motion of each mechanical phalanx is done automatically Since the Robotiq 2 Finger Adaptive Robot Gripper 200 has its own controller high level commands such as Go to requested position are used to operate it The Robotiq Adaptive Gripper 2 Finger 200 Con...

Page 36: ...ow if there is an object in the Gripper Fault Status The fault status gives additional details about the cause of a fault or warnings about the current controller status Position Request Echo The Gripper returns the position requested by the robot to make sure that the new command has been received correctly Motor Position Status The information of the motor position is also available Current Stat...

Page 37: ...ee Gripper functionalities Gripper status Figure 4 3 1 Two types of actions can then be done by the robot controller Write in the registers to activate robot output functionalities Read in the registers to get the of the Gripper robot input status Info The Gripper must be initialized activation bit whenever the power is turned on This procedure takes a few seconds and allows the Gripper to be cali...

Page 38: ...us LEDs Four LED lights provide general information about the Gripper status on the controller communication panel Figure 4 4 1 shows the LEDs and their locations Figure 4 4 1 Controller status LEDs There is an additional LED on the Gripper next to the Signal Cable Connector shown in figure 4 4 2 ...

Page 39: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 39 Figure 4 4 2 2 Finger Adaptive Robot Gripper 200 status LEDs ...

Page 40: ...hat the Gripper LED is a dual blue red LED Color State Information Off No power supplied Blue On Correctly supplied and the control board is running for the control board LED 4 4 2 Communication LED Color State Information Off No network detected Green Blinking A network has been detected but no connection has been established Green On A network has been detected and at least one connection is est...

Page 41: ...r Interface menu option Input Registers registers status For the Gripper LED Color State Code Information Off 0x00 No fault detected Priority Fault 0x05 Action delayed initialization must be completed prior to action 0x07 The activation bit must be set prior to action Red On Minor fault occurred 0x0B Automatic release in progress 0x0E Overcurrent protection triggered gripper Red Blinking A major f...

Page 42: ...mation Off 0x00 No fault detected Warning 0x04 24V not detected reconfiguration through usb is possible 0x05 No device detected Red On Minor fault occurred 0x09 The main communication protocol is not ready may be booting Red Blinking A major fault occurred 0x0C Emergency stop triggered 0x0E Overcurrent protection triggered controller ...

Page 43: ...ides many functionalities such as the direct position control of the fingers via go to commands Register mapping Caution Byte and not at 1 for the functionalities and status registers numeration starts on zero Register Robot Output Functionalities Robot Input Status Byte 0 ACTION REQUEST GO TO AUTO RELEASE GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAULT STATUS Byte 3 POSITION REQUEST...

Page 44: ...ust stay on afterwards for any other action to be performed rGTO The Go To action moves the Gripper s fingers to the requested position using the configuration defined by the other registers The only motions performed without the bit are the activation and the automatic release rGTO routines Automatic release routine action slowly opens the Gripper s fingers until all motion axes reach their rATR ...

Page 45: ... rRS6 Reserved Register GRIPPER OPTIONS 2 Address Byte 2 Bit Name Description 0 7 rRS7 Reserved Register POSITION REQUEST Address Byte 3 Bit Name Description 0 7 rPR Set Position Request for the Gripper 0x00 Minimum position to 0xFF Maximum position This register is used to set the Gripper fingers target position The positions 0x00 and 0xFF correspond respectively to the fully opened and fully clo...

Page 46: ... mm s Maximum speed 114 mm s Speed count under evaluation Register FORCE Address Byte 5 Bit Name Description 0 7 rFR Set Gripping Force 0x00 Minimum force to 0xFF Maximum force 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 n...

Page 47: ...Gripper activation 1 gRS1 RESERVED 2 gRS2 RESERVED 3 gGTO Go To request status 0 Standby or performing activation automatic release 1 Go to Position Request 4 gSTA Gripper status 00 Gripper is in reset or automatic release state see Fault Status if Gripper is activated 10 Activation in progress 01 Not used 11 Activation is completed 5 6 gOBJ Object detection status 00 Fingers are in motion only me...

Page 48: ...be successful without object detection occurring For this reason use this feature with caution In such applications the Fingers are at requested position status of register is sufficient to proceed to the next step of the routine gOBJ Tip Checking for correct position of the fingers byte 4 object detection byte 0 bit 6 7 before and proceeding to the next step of a routine is a more reliable method...

Page 49: ...to action Minor Fault red LED continuous 0x0B Automatic release in progress Overcurrent protection 0x0E triggered Major Fault red LED blinking Reset is required Automatic release 0x0F completed 4 7 kFLT 0x00 No Fault Warning 0x04 24V not detected reconfiguration through USB is possible 0x05 No device detected Minor Fault red LED continuous 0x09 Communication is not ready Major Fault red LED blinki...

Page 50: ... Name Description 0 7 gPR Echo of the requested position for the Gripper 0x00 Full Opening to 0xFF Full Closing Register POSITION Address Byte 4 Bit Name Description 0 7 gPO Position of Fingers 0x00 Fully opened to 0xFF Fully closed Register FINGER CURRENT Address Byte 5 Bit Name Description 0 7 gCU Current of Fingers 0 025 Current in mA ...

Page 51: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 51 4 8 Example Figure 4 8 1 Example of 2 Finger Adaptive Robot Gripper 200 registers ...

Page 52: ... Modbus Scanner Chipkin Automation Systems http www chipkin com cas modbus scanner 4 9 1 Connection setup The following table describes the connection requirement for controlling the Gripper using the Modbus RTU protocol PROPRIETY VALUE Physical Interface USB virtual serial connector drivers can be found at ftdichip com Baud Rate 115 200 bps Data Bits 8 Stop Bit 1 Parity None Number Notation Hexad...

Page 53: ...02 C5 CE where 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 where 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 Conte...

Page 54: ...st is 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C where Bits Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E9 Address of the first register 0002 Number of registers to write to 04 Number of data bytes to follow 2 registers x 2 bytes register 4 bytes 00E6 Value to write to register 0x03E9 3CC8 Value to write to register 0x03EA EC7C Cyclic Redundancy Check CRC Response is 09 10 0...

Page 55: ...t Detection Fault Status and Position Request Echo while setting position request speed and force of the Gripper by setting register 0x03E9 1001 and 0x03EA 1002 Request is 09 23 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 00 FF where 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 re...

Page 56: ...ltiple 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 4727 Cyclic Redundancy Check CRC Note The Adaptive Gripper 2 Finger 200 register values are updated at a 200Hz frequency It is therefore recommended to send FC23 commands with a minimum delay of 5ms between them ...

Page 57: ... Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E8 Address of the first register 0003 Number of registers to write 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 to write to register 0x03EA 0000 Value to write to register 0x...

Page 58: ...sted 1 85CF Cyclic Redundancy Check CRC Response if the activation IS NOT completed 09 03 02 11 00 55 D5 where Bits Description 09 SlaveID 03 Function Code 03 Read Holding Registers 02 Number of data bytes to follow 1 registers 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 55D5 Cyclic Redun...

Page 59: ...ll force Request is 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29 where Bits Description 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E8 Address of the first register 0003 Number of registers to write to 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 0900 Value to write to register 0x03E9 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Grippe...

Page 60: ...gister 0003 Number of written registers 0130 Cyclic Redundancy Check CRC Step 5 Read Gripper status until the grip is completed Request is 09 03 07 D0 00 03 04 0E where Bits Description 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 grip is not completed...

Page 61: ...ivation 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 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...

Page 62: ...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 F78B Cyclic Redu...

Page 63: ...OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 0000 Value to write to register 0x03EA 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 to write to register 0x03EB SPEED 0xFF and FORCE 0xFF full speed and full force 7219 Cyclic Redundancy Check CRC Response is 09 10 03 E8 00 03 ...

Page 64: ... 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 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 comma...

Page 65: ...ED 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 h...

Page 66: ... describes the connection requirements for controlling the Gripper using the Modbus TCP IP protocol Connection requirement Value Required protocol Modbus TCP IP Port 502 Gripper IP address Configurable most Grippers are shipped with the 192 168 1 X address Supported Functions Read Input Registers FC04 Preset Multiple Registers FC16 UnitID 0x0002 2 Robot Output Gripper Input First Register 0x0000 0...

Page 67: ... where Bits Description 01 00 Transaction identifier 00 00 Protocol identifier 00 06 Length 02 UnitID 04 Function 04 Read input registers 00 00 Address of the first register 00 06 Word count Response is 01 00 00 00 00 0f 02 04 0c e9 00 00 00 06 06 06 8a 00 00 00 00 where Bits Description 01 00 Transaction identifier 00 00 Protocol identifier 00 0f Length 02 UnitID 04 Function 04 Read input registe...

Page 68: ...t is 01 00 00 00 00 0d 02 10 00 00 00 03 06 09 00 64 64 00 ff where Bits Description 01 00 Transaction identifier 00 00 Protocol identifier 00 0d Length 02 UnitID 10 Function 16 Preset multiple registers 00 00 Address of the first register 00 03 The number of registers to write to 06 The number of data bytes to follow 09 00 00 64 00 ff Data Response is 01 00 00 00 00 06 02 10 00 00 00 03 where Bit...

Page 69: ...tion Request Request is 33 9A 00 00 00 0D 02 10 00 00 00 03 06 01 00 00 00 00 00 where Bits Description 339A Unique transaction identifier chosen randomly 0000 Protocol Identifier Modbus 000D Length 02 SlaveID 10 Function Code 16 Preset Multiple Registers 0000 Address of the first register 0003 Number of registers to write to 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes...

Page 70: ...Multiple Registers 0000 Address of the first register 0003 Number of written registers Step 2 Read Gripper status until the activation is completed Request is 45 33 00 00 00 06 02 04 00 00 00 01 where Bits Description 4533 Unique transaction identifier chosen randomly 0000 Protocol Identifier Modbus 0006 Length 02 SlaveID 04 Function Code 04 Read Input Registers 0000 Address of the first requested...

Page 71: ... Content of register 0000 GRIPPER STATUS 0x11 RESERVED 0x00 gACT 1 for Gripper Activation gSTA 1 for Activation in progress Response if the activation IS completed 45 33 00 00 00 05 02 04 02 31 00 where Bits Description 4533 Unique transaction identifier chosen randomly 0000 Protocol Identifier Modbus 0005 Length 02 SlaveID 04 Function Code 04 Read Input Registers 02 Number of data bytes to follow...

Page 72: ...e Registers 0000 Address of the first register 0003 Number of registers to write to 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 0900 Value to write to register 0x0000 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 00FF Value to write to register 0x0001 GRIPPER OPTIONS 2 0x00 and POSITION REQUEST 0xFF rPR 255...

Page 73: ... register 0003 Number of written registers Step 5 Read Gripper status until the grip is completed Request is 77 6B 00 00 00 06 02 04 00 00 00 03 where Bits Description 776B Unique transaction identifier chosen randomly 0000 Protocol Identifier Modbus 0006 Length 02 SlaveID 04 Function Code 04 Read Input Registers 0000 Address of the first requested register 0003 Number of registers requested 3 Exa...

Page 74: ...ster 6 bytes 3900 Content of register 0x0000 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 0x0001 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 0E0A Content of register 0x0002 POSITIO...

Page 75: ...s to follow 3 registers x 2 bytes register 6 bytes B900 Content of register 0x0000 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 0x0001 FAULT STATUS 0x00 POSITION REQUEST ECHO 0xFF the position request echo tells that the command was well received and that...

Page 76: ...ction Code 16 Preset Multiple Registers 0000 Address of the first register 0003 Number of registers to write to 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 0900 Value to write to register 0x0000 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 0000 Value to write to register 0x0001 GRIPPER OPTIONS 2 0x00 and P...

Page 77: ...the first register 0003 Number of written registers Step 8 Read Gripper status until the opening is completed Request is D6 05 00 00 00 06 02 04 00 00 00 03 where Bits Description D605 Unique transaction identifier chosen randomly 0000 Protocol Identifier Modbus 0006 Length 02 SlaveID 04 Function Code 04 Read Input Registers 0000 Address of the first requested register 0003 Number of registers req...

Page 78: ...S 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 0x0001 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 0x0002 POSITION 0xBB FINGER CURRENT 0x10 the position is 187 255 and the...

Page 79: ... of register 0x0000 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 0x0001 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 0x0002 POSITION 0x0D FINGER...

Page 80: ... two bytes Also the endianness is different for the Gripper than for the robots This means that the first register is built using the following formula UR REGISTER0 BYTE1 256 BYTE0 Tip One thing to try first is to send the value 256 to the REGISTER0 This command 1 on the activate bit will trigger the initialization routine and therefore you should see the Gripper open and close to reach its mechan...

Page 81: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 81 5 User Interface Section in development while Robotiq 2 Finger Adaptive Robot Gripper 200 is in beta testing ...

Page 82: ...inger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 82 6 Specifications 6 1 Technical dimensions Figure 6 1 1 Robotiq 2 Finger Adaptive Robot Gripper 200 technical dimensions in open position ...

Page 83: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 83 Figure 6 1 2 Robotiq 2 Finger Adaptive Robot Gripper 200 technical dimensions in closed position ...

Page 84: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 84 Figure 6 1 3 Robotiq 2 Finger Adaptive Robot Gripper 200 controller unit technical dimensions ...

Page 85: ... mm 0 037 in Gripper approximate weight 8 9 kg 19 6 lbs Recommended payload1 22 9 kg 50 5 lbs Grip force 150 to 750 N 33 7 to 168 6 lbf Closing speed of one finger Fingertip Grip 18 to 114 mm s 0 71 to 4 47 in s Finger position repeatability Fingertip Parallel Grip 0 03 mm 0 001 in 1 0 6 friction coefficient between finger steel and steel part safety factor of 2 Actuation force model used to calcu...

Page 86: ...g The user of the Gripper must always ensure that the result of the forces being applied to the finger is always lower than the maximum holding Force As defined in figure 6 2 1 the weight that can be lifted is defined by F is the force that is applied to the load by the Gripper Cf is the coefficient of friction between the fingertip pads and the load Sf is a safety factor to be determined by the r...

Page 87: ...r the Gripper is shown in Fig The center of mass and moment of inertia are calculated for a configuration where the fingers are fully ure 6 3 1 open at position 0 Info All values are approximate Actual coordinates may vary according to fingertip type and various options present on the Gripper Figure 6 3 1 Approximate value for the moment of inertia and the center of mass of the 2 Finger Adaptive R...

Page 88: ...e Pad Holder is fixed to the Gripper as shown in figure 6 4 1 1 For a list of available parts see section 8 Spare Parts Kits and Accessories Hint Note that the B 005 Pad Holders can be oriented so that the finger pads point to the inside or the outside of the Gripper fingers This possibility allows for part picking from the inside or the outside of the fingers so you can orient the pad holders to ...

Page 89: ... Gripper finger distal phalanx in Figure 6 4 1 3 Design of your finger pads must respect Maximum permissible weight 400g Maximum center of mass distance mm 20000 mass in grams 13 mm distance from the top of the Gripper Distal Phalanx shown in figure 6 4 1 3 Exemple maximum center of mass If your gripper pads weights 400g Maximum center of mass is 20000 400 13 37 mm above the top of the Gripper Dis...

Page 90: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 90 Figure 6 4 1 2 Technical dimensions for the B 005 Finger Pad Holder ...

Page 91: ... 6 4 1 3 Technical dimensions of the Gripper Distal Phalanx Note When designing a completely custom fingertip replacing Finger Holders and Finger Pads your design must use the four 4 M6 Socket Head Cap Screw fixation points on the Gripper Distal Phalanx Use of the Dowel Pins is strongly advised ...

Page 92: ...HCS using medium strength Loctite 248 Y 826 Figure 6 4 2 1 Proximal Pad B 011 assembly You can design your custom Proximal Pads to fit the Gripper fingers detailed in Figure 6 4 2 2 Note that the screw pattern must be present on both side of your pad and that both screw fixations are required to secure the pad Design of your finger pads must respect Maximum permissible weight 50 g Maximum center o...

Page 93: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 93 Figure 6 4 2 2 Proximal Pad screw thread patterns ...

Page 94: ... Pad insert Palm Pad Spacer x2 between Proximal Palm Pad and B 009 B 010 the Gripper Proximal Palm Phalanx attach with x2 dowel pins to align then secure with M6 x 4 Y 995 Y 828 Socket Head Cap Screws SHCS using medium strength 248 Standard 2 Finger Adaptive Robot Loctite Gripper 200 comes with one Palm Pad Spacer on each side Figure 6 4 3 1 Palm Pad assembly B 010 B 009 Palm Pad Spacer can be sta...

Page 95: ... 4 3 2 Working envelope of the Gripper centered on the Palm Pad Modifying the Gripper fingers by any means drilling holes adding fixtures etc without Robotiq Engineering Service approval does not respect safety measures and warranty conditions Never modify the Gripper without consent from Robotiq ...

Page 96: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 96 Figure 6 4 3 3 Palm Pad screw thread patterns ...

Page 97: ...55 see section for details on the 4 6 Robot output registers functionalities position control See figure 6 5 2 for a representation of Finger movement Figure 6 5 1 Finger opening for Go To position request Info Finger opening is linear to R 0 998 within the GO TO request of 15 to 225 Within this range 2 Finger opening has an approximate value O 0 98 mm 220 GOTO From the 0 to 15 GO TO mark the Grip...

Page 98: ...tive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 98 Figure 6 5 2 Finger trajectory Note The described finger trajectory is accurate for the standard 2 Finger Adaptive Robot Gripper 200 Finger Pads part B 012 ...

Page 99: ...ng for the 2 Finger Adaptive Robot Gripper 200 to order see section 8 Spare Parts Kits and Accessories B 061 M8 Socket Head Cap Screws on 100mm PCD Pitch Circle Diameter Figure 6 6 1 B 061 coupling B 062 M10 Socket Head Cap Screw on 125 mm PCD Info For details on the available threads for Gripper mounting see 3 3 2 Dimensions for custom adapter ...

Page 100: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 100 Figure 6 6 2 B 062 coupling ...

Page 101: ...otiq Maintenance Intervals Operation Daily Weekly Semiannually or XXX M cycles Annually or XXX M cycles Gripper Cleaning Dirty conditions Normal conditions Periodic Inspection X Finger Pad Replacement1 Test in progress Test in progress Overhaul2 Test in progress Test in progress 1 Replace pads before if wear is visible 2 Overhaul is recommended after XXX M cycles and is done by Robotiq at the user...

Page 102: ...pper with a wet towel and then dry with a dry towel Note Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper Procedure Remove the protective cap to access the finger opening mechanism Open the Gripper fingers for better access to the palm and pads using your flat head screwdriver Clean the Gripper with a wet towel remove all debris dirt and dust from t...

Page 103: ...ing Inspect the Gripper Finger movement must be symmetric and fluid Test the return movement by pushing open the fingers the fingers must come back to their initial position on their own Test the general movement of the fingers by actuation via the screwdriver insertion hole in the chassis Finger pad wear must not affect gripping if wear is visible and affects movement change finger pad s Check fo...

Page 104: ...ripper 200 replacement Spare Parts Kits and Accessories parts See section for details on the creation of custom Finger Pads Pad design and customization Note Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper Procedure Remove the Gripper from the robot following schematics in section 3 3 Mechanical connections Clean the Gripper following instruct...

Page 105: ...aintenance interval Tools you need Parts you need XXX Mio cycles or at warranty 1 expiration None None Gripper overhaul is necessary when the Gripper reaches XXX Mio cycles or when warranty has expired Overhaul 1 is done by Robotiq please contact Robotiq Support Service 1 Value currently under evaluation ...

Page 106: ... APL 071 B 072 Adapter Plate for 56 mm PCD dia 1 meter fifteen 15 M4 screws one 1 4 mm m6 dowel pin Meant for use with B 061 Coupling AGB APL 072 B 073 Adapter Plate for 80 mm PCD dia 1 meter six 6 M8 screws one 1 8 mm m6 dowel pin Meant for use with B 062 Coupling AGB APL 073 Y 2062 10 m communication cable between 2 Finger Adaptive Gripper 200 and controller Gripper Signal Cable CBL COM Y2062 Y ...

Page 107: ...4 Y 931 DIN 7980 M6 locking rings AGB PAD B012 Proximal Pad includes one 1 B 011 Proximal Pad four 4 Y 826 M6 x 12mm Socket Head Cap Screws AGB PAD B011 Palm Pad includes one 1 B 010 Palm Pad four 4 Y 828 M6 x 25mm Socket Head Cap Screws two 2 Y 995 m6 x 24 mm ISO 2338 dowel pins AGB PAD B010 B 009 One 1 12 7mm 0 5 in Palm Pad Spacer model B 009 AGB PAD B009 1 Pitch Circle Diameter ...

Page 108: ...ller cable for damage pay attention to the connectors Check the on the Controller green LED It s OFF No network detected check communication cables and network infrastructure see specific protocol in and the following section 3 5 2 It s BLINKING Network detected no communication established go to step 5 EtherNet family protocol must be connected via RJ45 port while CanOpen will use DB 9 connector ...

Page 109: ...on Master communication device must use the same protocol and the same option settings as the controller for the Gripper After reprogramming communication options wait for the red led on the controller to turn off before using the Gripper Other problems If the system shuts down blue LED goes off when the Gripper activates check the power supply the power supply must meet the following requirements...

Page 110: ...djustment 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 The Gripper fingers cannot close or open The Gripper feedback necessary for the robot program is not accessible Parts that ...

Page 111: ...per 200 is connected or the operation of any system of which the Gripper may be a part Exclusion Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring obligation to make any changes whatsoever on units already purchased This warranty excludes failure resulting from improper use or installation normal wear and tear accident abu...

Page 112: ...tiq com Go to Contact Us Phone 1 888 ROBOTIQ 762 6847 1 418 800 0045 outside US and Canada Fax 1 418 800 0046 Technical support and Engineering 1 866 508 1997 X201 Sales US 1 812 220 4578 Sales Canada Europe and Asia 1 418 800 0045 Head office Robotiq 966 chemin Olivier Suite 325 St Nicolas Qc G7A 2N1 Canada ...

Page 113: ...Robotiq 2 Finger Adaptive Robot Gripper 200 Instruction Manual Robotiq inc 2008 2013 113 Translation of original EC declaration of incorporation ...

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