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2F-85 & 2F-140 - Instruction Manual

4.2. Gripper Register Mapping

Caution

Byte numeration starts at 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.

31

Summary of Contents for 2F-140

Page 1: ...Robotiq 2F 85 2F 140 for Cobots Instruction Manual robotiq com leanrobotics org Original Notice 2021 Robotiq Inc ...

Page 2: ...ontact Us Phone 0755 83215213 86 18670025215 Head Office 显扬科技 深圳 深圳市福田区长富金茂大厦１号楼４１１２室 显扬科技 佛山 佛山市南海区狮山镇广工大数控装备协同创新 研究院Ａ座５０７ Where automation Pros come to share their know how and get answers dof robotiq com FT 300 SForce Torque Sensor Instruction Manual 55 ...

Page 3: ...on 19 3 5 Electrical Setup 25 3 6 Testing the Gripper with the Robotiq User Interface RUI 28 4 Control 29 4 1 Overview 29 4 2 Gripper Register Mapping 31 4 3 Robot Output Registers Functionalities 32 4 4 Robot Input Registers Status 36 4 5 Picking Features 40 4 6 Control Logic Example 47 4 7 Modbus RTU Communication 48 5 Specifications 63 5 1 Technical dimensions 64 5 2 Mechanical specifications 7...

Page 4: ...e Parts Kits and Accessories 91 8 Troubleshooting 94 8 1 Using the Robotiq User Interface RUI 94 9 Warranty and Patent 95 10 Harmonized Standards Declarations and Certificates 97 10 1 Translation of original EC declaration of incorporation 97 10 2 Applied standards 98 11 Contact 99 3 ...

Page 5: ...manual online at support robotiq com Revision 2021 05 19 l Updated Warranty and Patent section 9 l Updated Spare Parts Kits and Accessories section 7 l Updated figures section 5 1 1 l Updated Center of mass and TCP table section 5 2 3 l Updated Preset multiple registers section 4 7 3 Revision 2020 02 11 Multiple modifications to standardize with our other manuals Revision 2019 05 17 Environmental ...

Page 6: ... 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 ed...

Page 7: ...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 millimet...

Page 8: ...t 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 Warning The Led behavior can change depending on the communication protocol Please contact Support for more details The status LED presented in the figure above will be l...

Page 9: ...s 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 8 ...

Page 10: ...pect to the gripper In other words picking the same object could result in either an encompassing 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 ...

Page 11: ...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 Features section for details on the possible position commands of your gripper Fig 1 4 Finger internal and external grasping 10 ...

Page 12: ...se with a parallel motion The figure below shows the encompassing grasp region the equilibrium line and the parallel grasp region on the 2 Finger Adaptive Gripper Info The details of the equilibrium line relation between opening angle and the related position d can be found in the Mechanical specifications section Fig 1 5 Equilibrium line on the 2 Finger Tip Grasping an object that could be graspe...

Page 13: ...ovide mechanical and electrical connectivity Please refer to the Mechanical Installation section for installation of the coupling to the Specifications section for technical drawings and to the Spare Parts Kits and Accessories section 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...

Page 14: ...bot 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 nonetheless discrepancies may...

Page 15: ...e 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 met Depending on the appl...

Page 16: ...nterface RUI section Warning Before installing l Read and understand the safety instructions related to the 2 Finger Adaptive 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 Meet the recommended environmental conditions l Do not operate the Gripper or...

Page 17: ...wer supply wiring or fuses Info When bought as a kit the gripper will come in a package with the appropriate coupling fingers fingertips and cabling Please refer to the Spare Parts Kits and Accessories section 3 1 1 General Kit A gripper Kit generally includes these items l Robotiq 2 Finger Adaptive Gripper l Coupling l Robotiq device cable l USB to RS485 signal converter l Screw Kit Fig 3 1 Schem...

Page 18: ... 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 MLD KIT 85 AGC TIP MLD 140 AGC TIP 204 085 AGC TIP 205 085 AGC TI...

Page 19: ...rrent 1 A Overcurrent Recommended power supply with internal protection otherwise fusing is required 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 po...

Page 20: ...r gases l Free from powerful electromagnetic inter ference Table 3 2 Environmental and operating conditions of the 2 Finger Adaptive Gripper 3 4 Mechanical Installation 3 4 1 Installing the Gripper on the robot Single Gripper Installation You must use a coupling to attach the gripper to the robot Be sure to use the coupling related to your robot model If there is no coupling for your robot you can...

Page 21: ... mount the gripper to your robot with the Standard Coupling Kit 1 Screw the adapter plate if adapter plate is required 2 Screw the coupling to the adapter plate if applicable or on the robot 3 Screw the gripper onto its coupling Fig 3 2 Installing the Gripper to a Robot Using an Adapter Plate and Coupling 20 ...

Page 22: ... its own coupling 1 Install a mounting plate first on the robot arm AGC APL 159 02 2 Mount the grippers couplings on the mounting plate using the provided M6 X 12 mm screws and tooth lock washers 3 Mount the grippers onto the coupling using the provided M5 X 25 mm screws and tooth lock washers Fig 3 3 Dual 2F Gripper Configuration 21 ...

Page 23: ...th the cor responding chassis axis 2 Insert the bar axis in the bar hole and through the chassis axis top hole is for parallel locking while bottom hole is for finger installation 3 Insert the proximal axis in the holes located on the proximal and through the chassis axis 4 Apply medium strength threadlocker on the provided screws and secure the finger to the chassis 5 Repeat for the other finger ...

Page 24: ...r If you need to change the fingertips follow the instructions below 1 Align the fingertip dowel pins with the finger dowel holes 2 Apply low strength threadlocker on the provided screws and secure the fingertips to the fingers Fig 3 5 Installing the Fingertips on the Gripper 23 ...

Page 25: ... Gripper Fingers An optional protector kit AGC PRO KIT V4 AGC PRO KIT 140 can be ordered to cover the fingers of the 2F 85 2F 140 and therefore protect users and assets against pinch points You can install them using eight 8 M3 screws Fig 3 6 Protector Kit Installation 24 ...

Page 26: ... 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 Fig 3 7 Robotiq 2 Finger electrical isolation grounding 3 5 1 Electrostatic Discharge Safety Robotiq 2F 85 2F 140 Gripper are not ESD safe If installed properly using the tooth lock washers the casing and internal mechanism are grounded ...

Page 27: ... 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 If a Robotiq Universal Controller is used please refer to the Robotiq Universal Controller manual The figure below illustrates the wiring schematic of the 2 Finger with device cable power supply fuse please refer t...

Page 28: ...m 22 AWG TEW 300 V or 600 V RS485 signal l minimum 24 AWG TEW 300 V or 600 V l A and B signals must be balanced at 120 Ohms Single Gripper Prior to any software installation or communication setup on the robot connect the white green and bare wires to the proper signal converter required RS485 USB RS85 RS232 Robotiq Universal Controller Also connect the red 24V and black 0V wires to the power supp...

Page 29: ...ser Interface RUI Once installed and properly secured your Robotiq 2 Finger Adaptive Gripper should be tested with the Robotiq User Interface test software using the provided USB converter Follow these instructions 1 Install the Robotiq User Interface RUI For details see the Robotiq User Interface manual available at robotiq com support 2 Power up your gripper with the previously recommended power...

Page 30: ...ated via a single Go to requested position command l Parallel or encompassing grip is performed automatically l Object detection is built in Operator is notified after an object is picked once the Go to command has been initiated The feature also works for lost or dropped objects and the user can be alerted if an object is dropped after being detected l In case of emergency auto release is engaged...

Page 31: ...2F 85 2F 140 Instruction Manual Fig 4 1 2 Finger control logic overview 30 ...

Page 32: ...ies 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 31 ...

Page 33: ...n setting rACT rACT 1 the gripper will begin movement to complete its activation feature Info Power loss will set rACT rACT 1 the rACT bit must then be cleared rACT 0 then set again to allow operation of the gripper Caution The 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 defi...

Page 34: ...ic release is not intended to be used under normal operating conditions Automatic release will require the rACT to be cleared rACT 0 then set rACT 1 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 rATR bit as the motion direction is set when the auto release is initiated l 0x0 Closing auto re...

Page 35: ...tions section 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 will allow the gripper to adjust to any fingertips No matter what is the size and or shape of the fingertips 0 will always be fully opened and 255 fully closed with a quasi linear relationship between the two values 4 3...

Page 36: ... for the gripper The force will fix the maximum current sent to the motor If the current limit is exceeded the fingers stop and trigger an object detection notification Please refer to the Picking Features section 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 0 35 ...

Page 37: ...0 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 and 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...

Page 38: ...d For instance picking up a thin object may be successful without the object detection status being triggered In such applications the Fingers are at requested position status of register gOBJ is sufficient to proceed to the next step of the routine 4 4 2 Register RESERVED Address Byte 1 Bits 7 6 5 4 3 2 1 0 Symbol Reserved 4 4 3 Register FAULT STATUS Address Byte 2 Bits 7 6 5 4 3 2 1 0 Symbols kF...

Page 39: ...ng edge on activation bit rACT needed l 0x0A Under minimum operating voltage l 0x0B Automatic release in progress l 0x0C Internal fault contact support robotiq com 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 in...

Page 40: ... gPO gPO Actual position of the gripper obtained via the encoders value between 0x00 and 0xFF l 0x00 Fully opened l 0xFF Fully closed 4 4 6 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 ...

Page 41: ...s 4 5 1 Force Control The gripping force is controlled via the rFR byte refer to the Robot Output Registers Functionalities section The gripper behavior will change according to the rFR force requested l rFR 0 Very fragile objects l Lowest force l Re grasp feature is off l 1 rFR 255 Fragile to robust object l Re grasp feature is on The table below shows the expected applied force according to the ...

Page 42: ... 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 har...

Page 43: ...2F 85 2F 140 Instruction Manual Fig 4 2 Grip force on hardness 220 HV 4340 annealed carbon steel Fig 4 3 Grip force on hardness 95 HV 6061 T6 aluminium 42 ...

Page 44: ...2F 85 2F 140 Instruction Manual Fig 4 4 Grip force on hardness 60A silicone Fig 4 5 Grip force on hardness 40 A silicone 43 ...

Page 45: ...2F 85 2F 140 Instruction Manual Fig 4 6 Grip force on hardness 10 A neoprene Fig 4 7 Grip force on hardness 30 OO polyurethane 44 ...

Page 46: ...tically 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 rPR position 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 ...

Page 47: ...2 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 Example of contact detected with an object 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 stat...

Page 48: ...2F 85 2F 140 Instruction Manual 4 6 Control Logic Example Fig 4 8 Example of Gripper control logic with corresponding registers 47 ...

Page 49: ... 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 CAS Modbus 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 ...

Page 50: ...verters are available in the Spare Parts Kits and Accessories 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 maximum speed when comman...

Page 51: ...Status Object Detection Fault Status and Position Request Echo Request is 09 04 07 D0 00 02 70 0E Bits Description 09 SlaveID 04 Function Code 04 Read Input 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 45 84 Bits Description 09 SlaveID 04 Function Code 04 Read Input Registers 04 Number ...

Page 52: ... 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 ...

Page 53: ...s 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 reques...

Page 54: ...r of data bytes to follow 2 registers x 2 bytes register 4 bytes 1000 Content of register 07D0 09E6 Content of register 07D1 F6C1 Cyclic Redundancy Check CRC Tip Response contents might change depending on gripper status Info Gripper executes the input command write command executes one cycle of motion updates the output then returns the Modbus response read 53 ...

Page 55: ...0 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 0x03E8 ACTION REQUEST 0x01 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper 0000 Value written to register 0x03E9 0000 Valu...

Page 56: ...w 3 registers x 2 bytes register 6 bytes 0100 Value to write to register 0x03E8 ACTION REQUEST 0x01 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper 0000 Value written to register 0x03E9 0000 Value written to register 0x03EA 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 re...

Page 57: ...04 Read Input Registers 02 Number of data bytes to follow 1 register 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 54A1 Cyclic Redundancy Check CRC Response if the activation IS completed 09 04 02 31 00 4D 61 Bits Description 09 SlaveID 04 Function Code 04 Read Input Registers 02 Number of ...

Page 58: ...0 Value written to register 0x03E8 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 00FF Value written to register 0x03E9 GRIPPER OPTIONS 2 0x00 and POSITION REQUEST 0xFF rPR 255 255 for full closing of the Gripper FFFF Value written to register 0x03EA SPEED 0xFF and FORCE 0xFF full speed and full force 4229 Cyclic Redundancy Check CRC Re...

Page 59: ...e 04 Read Input 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 00FF Content of register 07D1 FAULT STATUS 0x00 POSITION REQUEST ECHO 0xFF the position request echo tells that the command was well rec...

Page 60: ...9 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 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 positi...

Page 61: ...register 0x03E8 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 0000 Value written to register 0x03E9 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 written to register 0x03EA SPEED 0xFF and FORCE 0xFF full speed and full force 7219 Cyclic Redun...

Page 62: ...de 04 Read Input 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 command was well re...

Page 63: ...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 have...

Page 64: ...s specifications for the Robotiq 2 Finger 85 and 140 Adaptive Grippers l Technical dimensions section l Dimensions of the Gripper l Dimensions for custom blank coupling l Dimensions of couplings l Dimensions for custom fingertips l Dimensions of standard fingertips l Mechanical specifications section l Electrical specifications section 2F 85 2F 140 Instruction Manual 63 ...

Page 65: ...igin referenced for finger motion Fig 5 3 shows the equivalent with 140 mm fingers 2 Finger 140 Info All technical drawings in the present section are shown with NBR overmolded fingertip option AGC TIP MLD 85 2 Finger 85 or AGC TIP MLD 140 2 Finger 140 Fig 5 1 General dimensions of 2F 85 opened The height and width of the fingers vary with opening position The figure above represents the 2F 85 Gri...

Page 66: ...2F 85 2F 140 Instruction Manual Fig 5 2 2F 85 dimensions closed Fig 5 3 General dimension of 2F 140 opened 65 ...

Page 67: ...imensions closed The height and width of the fingers vary with opening position Fig 5 3 represents the 2F 140 Gripper in the opened position position request 0 while Fig 5 4 represents the 2F 140 Gripper in the closed position position request 255 66 ...

Page 68: ... 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 Kits and Accessories section 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 5 5 Workable area dimensions of bl...

Page 69: ... couplings GRP CPL 062 and GRP ES CPL 062 refer to the Spare Parts Kits and Accessories section is compatible with l 50 mm pitch circle diameter l 4 M6 1 0 low head socket cap screw clearance l 1 M6 dowel pin l ISO 9409 1 standard 50 4 M6 Fig 5 6 Coupling for ISO 9409 1 50 4 M6 68 ...

Page 70: ...tern for coupling GRP CPL 063 refer to the Spare Parts Kits and Accessories section is compatible with l 31 5 mm pitch circle diameter l 4 M5 0 8 low head socket cap screw clearance l 1 M5 dowel pin l ISO 9409 1 standard 31 5 4 M5 Fig 5 7 Coupling for ISO 9409 1 31 5 4 M5 69 ...

Page 71: ...attern for coupling GRP CPL 064 refer to the Spare Parts Kits and Accessories section is compatible with l 40 mm pitch circle diameter l 4 M6 1 0 low head socket cap screw clearance l 1 M6 dowel pin l ISO 9409 1 standard 40 4 M6 Fig 5 8 Coupling for ISO 9409 1 40 4 M6 70 ...

Page 72: ...ries section is compatible with l 56 mm pitch circle diameter l 8 M4 0 7 low head socket cap screw clearance l 1 M4 dowel pin l 62 mm diameter internal insert Fig 5 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 71 ...

Page 73: ... coupling AGC CPL 066 002 refer to the Spare Parts Kits and Accessories section is compatible with l 56 mm pitch circle diameter l 6 M4 0 7 low head socket cap screw clearance l 1 M6 dowel pin l 42 mm diameter external insert Fig 5 10 Coupling for PCD 56 mm with 6 x M4 clearance 72 ...

Page 74: ... coupling AGC CPL 067 002 refer to the Spare Parts Kits and Accessories section is compatible with l 60 mm pitch circle diameter l 4 M5 0 8 low head socket cap screw clearance l 1 M5 dowel pin l 34 mm diameter external insert Fig 5 11 Coupling for PCD 60 mm with 4 x M5 clearance 73 ...

Page 75: ...Bolt pattern for coupling AGC CPL 068 002 refer to the Spare Parts Kits and Accessories section is compatible with l 63 mm pitch circle diameter l 6 M6 1 0 low head socket cap screw clearance l 2 M6 dowel pins Fig 5 12 Coupling for PCD 63 mm with 6 x M6 clearance 74 ...

Page 76: ...eet the following specifications 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 Fig 5 22 l Refer to the Mechanical specifications section to evaluate the grip force according to your fingertip design l Applied forces to the gripper must not exceed moment and force limits detailed in t...

Page 77: ...epresents a flat rubber NBR overmolded fingertip AGC TIP MLD KIT 85 for 2F 85 and AGC TIP MLD KIT 140 for 2F 140 For details see the Spare Parts Kits and Accessories section Fig 5 14 Flat Rubber NBR Overmolded Fingertip for 2F 85 Fig 5 15 Flat Rubber NBR Overmolded Fingertip for 2F 140 76 ...

Page 78: ...tip AGC TIP 205 085 2 Finger 85 and AGC TIP 421 140 2 Finger 140 please refer to the Spare Parts Kits and Accessories section This fingertip inner surface has vertical grooves making ideal for picking cylindrical parts Fig 5 16 Grooved fingertip AGC TIP 205 085 Fig 5 17 Grooved fingertip AGC TIP 421 140 77 ...

Page 79: ...e repeatability 10 Position resolution2 0 4 mm 0 016 in 0 6 mm 0 022 in Grasp force resolution Maximum force calculation below refer to the Force Control section Table 5 1 Mechanical specifications of the Robotiq 2 Finger 85 and 140 Adaptive Grippers fitted with coupling GRP CPL 062 and fingertip AGC TIP MLD KIT 85 2 Finger 85 or AGC TIP MLD KIT 140 2 finger 140 1Repeatability is defined as the po...

Page 80: ...a lubricated steel part machine tending with cutting oils the friction coefficient would be 0 3 tested static coefficient of friction The maximum weight with a safety factor of 2 4 using the maximum grasping force of 130 N would be W 2 x 130 N x 0 3 2 4 32 5 N This calculation means that a 3 3 kg part will be held by the gripper when not moving standing still When accelerating the payload will dec...

Page 81: ...2F 85 2F 140 Instruction Manual Friction grasp and form fit grasp Maximum payload by grasp type Grasp Type 2F 85 2F 140 Friction grasp 5 kg 2 5 kg Form fit grasp 5 kg 2 5 kg 80 ...

Page 82: ... in the figure below where l θ is the opening angle between the gripper proximal bar and center line l D is the distance between the bottom of the fingertips and the equilibrium line as seen on the Z axis in Fig 1 5 Fig 5 19 Position of the Gripper equilibrium line according to the opening angle for 2 Finger 85 and 2 Finger 140 options 81 ...

Page 83: ... 75 5 0 0 0 0 244 0 1013 Info For TCP and center of mass of the 2F 85 or the 2F 140 used in combination with other Robotiq products please consult the specific table provided on our support website Info The angle to calculate the TCP for grippers mounted on a dual gripper assembly is as follows l Rx 0 l Ry Ry 0 7854 l Rz 0 The moment of inertia are calculated for a configuration where the fingers ...

Page 84: ...n 2 Finger 85 2 Finger 140 Fx Fy Fz 50 N 25 N Mx 5 Nm 5 Nm My 5 Nm 5 Nm Mz 3 Nm 3 Nm Moments in x and y are calculated from the base of the fingertips as shown in Fig 5 22 Fig 5 21 Maximum moment and force values Fig 5 22 Maximum recommended grip force in the Y and Z axis for the 2 Finger 85 and 2 Finger 140 Usage example with listed limits l After picking its normal payload the robot can use the ...

Page 85: ...0 Instruction Manual 5 3 Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 V DC 10 Absolute maximum supply voltage 28 V DC Quiescent power minimum power consumption 1 W Peak current 1 A 84 ...

Page 86: ... Robotiq Info A cycle is defined as a go to requested position command that results in grip force being applied closing the fingers on themselves or picking an object while opening or closing Operation Daily Weekly 1 M cycles 2 M cycles Gripper Cleaning Dirty conditions Normal conditions Periodic Inspection X Fingertip Replacement1 X Overhaul2 X Table 6 1 Maintenance intervals for the 2 Finger Gri...

Page 87: ...r the maintenance intervals must be adjusted according to environmental conditions such as l Operating temperature l Humidity l Presence of chemicals l Presence of physical parts debris scraps dust grease etc l Interaction with operated parts sharp or rough l Dynamics of the operation accelerations 86 ...

Page 88: ...dry towel 1 Remove the gripper from its coupling using the 4 mm hex key to unscrew the four 4 M5 0 8 x 25mm screws Note that each screw uses a tooth lock washer do not lose them 2 Use the flat head precision screwdriver to open or close the gripper by turning the flat head screw located under the grip per where the coupling connects illustrated in the figure below a Open or close to access the pal...

Page 89: ...e gripper a Finger movement must be symmetric and fluid i Test the return movement by pushing fingers open the fingers must come back to the initial starting position on its own ii Test the general movement of the fingers by turning the flat head screw under the gripper see Fig 6 1 b Fingertip wear must not affect gripping if wear is visible and affects movement change accordingly refer to the Gri...

Page 90: ...ement parts Caution Always turn off the robot and the gripper power supply before performing any maintenance operations 1 Remove and clean the gripper following instructions from the Gripper cleaning section 2 Remove the worn fingertip by removing the M5 screw with the 4 mm hex key make sure not to mislay the 2 mm dowel pins 3 Clean the fingertip holder and dry thoroughly 4 Insert the new fingerti...

Page 91: ...res Overhaul is done by Robotiq please contact Robotiq support service Gripper overhaul includes but is not limited to l Worn parts changed l Power transmission gearing mechanism l Plain bearings l Ball bearings l Quality control l Specification test force speed position Overhaul takes a maximum of 5 business days after reaching Robotiq shipping is at customer s expense Tip Loan units are availabl...

Page 92: ...mm option Included l 2 x Replacement finger l 2 x Hardware kit l 1 x hex key AGC FIN KIT 85 V4 AGC FIN KIT 140 V4 10m Device cable 10 m Robotiq device cable for power and communication Straight M12 5 pins female on one side single ended on the other shielded CBL COM 2065 10 HF USB to RS485 adapter USB to RS485 adapter can be used with device cable for USB connection ACC ADT USB RS485 Flat overmold...

Page 93: ...Finger 140 l 1 x parallel locking shaft Finger protector l 2 x protector l 8 x M3 screws AGC PRO KIT V4 AGC PRO KIT 140 Parallel locking shaft l 2 x parallel locking shafts l 4 x M3 0 5 x 5 mm LHCS AGC PARA KIT Fingertip conversion Kit l 2 x Fingertip adapters l 1 x Screw Kit AGC TIP CONV KIT 92 ...

Page 94: ...065 002 56 6M4 1D6 coupling Coupling for 56 mm PCD1 with 6 M4 and 1 6mm dowel pin with screws for 2 F Gripper fixation and 1 m pigtail cable AGC CPL 066 002 60 4Ø5 1D5 coupling Coupling for 60 mmPCD1 with 4 M5 thread and 1 5mm dowel pin with screws for 2 F Gripper fixation and 1 m pigtail cable AGC CPL 067 002 63 6M6 2D6 coupling Coupling for 63 mm PCD1 with 6 M6 and 2 6mm dowel pins with screws f...

Page 95: ...omputer 2 Connect your gripper to a computer USB port 3 Send instructions to your gripper via the Robotiq User Interface If this fails check that all cables are connected to your grip per and to your computer 4 Contact support robotiq com Info For details on the Robotiq User Interface see its Instruction Manual available on robotiq com support 2F 85 2F 140 Instruction Manual 94 ...

Page 96: ... verify and adjust the Gripper free of charge if the equipment should need to be repaired or if the original adjustment 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 l The Gripper...

Page 97: ...r use or installation normal wear and tear accident abuse neglect fire water lightning or other acts of nature causes external to the Gripper or other factors beyond Robotiq s control It also excludes all consumable parts such as fingertips and their normal wear Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring any obligat...

Page 98: ...10 Harmonized Standards Declarations and Certificates 10 1 Translation of original EC declaration of incorporation 2F 85 2F 140 Instruction Manual 97 ...

Page 99: ...ormance requirements for similar products Caution Conformity of the product is only met if all instructions of this manual are followed Among others installation safety measures and normal usage must be met The following standards have been applied NF EN ISO 14539 2000 Manipulating industrial robots Object handling with grasp type grippers Vocabulary and presentation of characteristics NF EN ISO 1...

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