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ROBOTIQ 2-Finger 140 Скачать руководство пользователя страница 54

Robotiq 2-Finger Adaptive Gripper

Instruction Manual

Robotiq inc. © 2016

54

4.7 MODBUS RTU communication

The Gripper can be controlled by Modbus RTU directly with RS485 or over USB using the ACC-ADT-USB-RS485. This section is intended to provide
guidelines for setting up a Modbus scanner that will adequately communicate with the Gripper.

For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus over serial line specification
and implementation guide available at:

http://www.modbus.org/docs/Modbus_over_serial_line_V1.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.chipkin.com/cas-modbus-scanner

.

Info
Modbus RTU is a communication protocol based on a Big Endian byte order. Therefore, the 16-bit register addresses are transmitted with the
most significant byte first. However, the data port is in the case of Robotiq products based on the Little Endian byte order. As such, the data parts
of Modbus RTU messages are sent with the less significant byte first.

Tip
Modbus RTU specification and details can be found at

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Содержание 2-Finger 140

Страница 1: ... ROBOTIQ INC 2016 Get the latest version of the manual at support robotiq com ...

Страница 2: ...ontrol over Universal Robots with URCaps 68 4 8 1 Gripper Toolbar 69 4 8 2 Gripper Node 72 4 9 Control over Universal Robots without URCaps 79 4 9 1 Gripper Toolbar 80 4 9 2 Demo Scripts 83 4 9 3 Custom Programs 84 4 9 4 Provided Variables and Functions 85 5 User Interface 87 6 Specifications 87 6 1 Technical dimensions 89 6 1 1 Couplings 93 Coupling for ISO 9409 1 50 4 M6 94 Coupling for ISO 9409...

Страница 3: ...aptive Robot Gripper version 3 Revision 2014 07 22 Modification for use on Robotiq Universal Controller Minor modifications User Interface section maintenance section Revision 2013 02 06 Section added Couplings ISO models and Baxter robots Minor modifications Revision 2013 02 06 Section added Communication with UR robots Minor modifications Revision 2012 10 18 Official release Revision 2012 03 02 ...

Страница 4: ...that is designed for industrial applications Its same base installation and control will be exactly the same 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 Note Unless specified information in this manual applies to both the 85 and the 140 mm version of the 2 Finger Adaptive Robot Gripper Note The following manua...

Страница 5: ...rs than the total number of joints This configuration allows the fingers to automatically adapt to the shape of the object they grip and it also simplifies the control of the Gripper Figure 1 1 The 2 Finger Adaptive Robot Gripper See section for details on standard and optional parts 3 1 Scope of delivery The status LED presented in Figure 1 1 will be solid blue red when booting solid blue when po...

Страница 6: ...er 140 according to Figure 1 2 the Gripper chassis will remain the same only the fingers will change see for on the installation instructions Finger kits are available in the Section 3 4 Spare Parts and Accessories section Figure 1 2 The 2 Finger 85 and 140 mm versions Info Details on the 2 Finger 85 and 2 Finger 140 dimensions and specifications can be found in the section Specifications ...

Страница 7: ... 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 a fingertip grip based on a part s position and geometry Note It is important to note that a fingertip grip can only be performed when the fingers touch the object with the upper section of the distal phalanxes first I...

Страница 8: ...per also offers internal gripping The fingers can pick hollow parts from the inside by applying pressure with the outside of the fingers See Figure 1 4 for a representation and see Section 4 5 for details on the possible position commands of your Gripper Figure 1 4 2 Finger internal and external gripping ...

Страница 9: ...l close with a parallel motion Figure 1 5 shows the encompassing grip region the equilibrium line and the parallel grip region on the 2 Finger Adaptive Robot Gripper Figure 1 5 Equilibrium line on the 2 Finger shown with no fingertip pads Info The details of the equilibrium line relation between opening angle and the related position can be found in section d 6 2 Mechanical Specifications Tip Grip...

Страница 10: ...for installation of the Section 3 4 Coupling for tech drawings for available couplings Section 6 1 Section 8 The 2 Finger has an embedded object detection feature using indirect sensing methods When picking an object via the go to command the Gripper status will allow you to know if an object is picked or not via a simple object detection bit 0 or 1 When an object is detected the Gripper will stop...

Страница 11: ... photos in this documentation are representative examples and differences may exist between them and the delivered product Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq 2 Finger Adaptive Robot Gripper The term operator refers to anyone responsible for any of the following operations on the 2 Finger Adaptive Robot Grip...

Страница 12: ...he operator Note Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage Warning The Gripper needs to be properly secured before operating the robot Do not install or operate a Gripper that is damaged or lacking parts Never supply the Gripper with an alternative current source Make sure all cord sets are always secured at both ends at the Gripper a...

Страница 13: ...hinery and equipment The unit may be used only within the range of its technical data Any other use of the product is deemed improper and unintended use Robotiq will not be liable for any damages resulting from any improper or unintended use Caution The Gripper is NOT intended for applying force against objects or surfaces Note Always comply with local and or national laws regulations and directiv...

Страница 14: ...cribes the required electrical set up of the Gripper its power source and communication wiring Section 3 6 explains you how to test the Gripper via the Robotiq User Interface Finally Section 3 7 explains how to get and install software packages meant to control your Gripper with Universal Robots Warning Before installing Read and understand the related to the 2 Finger Adaptive Robot Gripper safety...

Страница 15: ... separately unless specified Palm pad USB to RS 485 signal converter ACC ADT USB RS485 Depending on your choice Coupling according to your robot bolt pattern AGC CPL XXX 00 2 Robotiq device cable CBL COM 2065 05 for 5 meters cable CBL COM 2065 10 for 10 meters cable Info See section for a Spare Parts Kits and Accessories list of available couplings Info See section for a Spare Parts Kits and Acces...

Страница 16: ...cluded with the Gripper Required power supply must match the Robotiq device The following table shows the specifications with regards to the power supply required to operate the Gripper and the optional Robotiq Controller SPECIFICATION VALUE Output voltage 24 V DC 10 Output current 1 A Overcurrent Recommended power supply with internal protection otherwise fusing is required 2 A fuse at 25 C 77 F ...

Страница 17: ...DITION VALUE Minimum storage transit temperature 30 C 22 F Maximum storage transit temperature 60 C 140 F Minimum operating temperature 10 C 14 F Maximum operating temperature 50 C 122 F Humidity non condensing 20 80 RH Vibration 0 5G Others Free from dust soot or water Free from corrosive liquids or gases Free from explosive liquids or gases Free from powerful electromagnetic interference Table 3...

Страница 18: ... To do so the slot present on the finger bar must be aligned correctly to the corresponding chassis axis Insert finger shaft between finger bar bottom hole top hole is for parallel locking and corresponding chassis hole Fix in place by inserting snap rings on both sides of the shaft using snap ring pliers Apply medium strength thread locker to the provided stainless steel shoulder screws align the...

Страница 19: ...r options you may have fingertips to install The second step of the installation should be to install the fingertips To do so Align the fingertip indexing pin to the fingertip dowel hole Insert the two M3 0 5 x 8 low head cap screws and screw on after applying medium strength thread locker Figure 3 4 2 Installing the fingertip pads onto the Gripper ...

Страница 20: ...ate your own coupling or adapter plate you can refer to the To see the details of the available couplings and adapter plates see the Coupling section Spare Parts Kits and Accessories section Here are the steps to follow to mount the Gripper to your robot exploded view in Figure 3 4 3 below Note that all screws must be locked in place using medium strength thread locker Screw the adapter plate or t...

Страница 21: ...resents the wiring schematic of the 2 Finger with device cable power supply fuse see and grounding Section 3 2 Figure 3 5 1 Robotiq 2 Finger with pigtail cable and device cable wiring schematic Gripper grounding is optional and is done via the robot ground The coupling indexing pin dowel is the ground connector Gripper coupling chassis and proximal phalanx are linked as illustrated in Figure 3 5 2...

Страница 22: ...connector from the coupling device cable robot side AGC CPL XXX CBL C and their associated pinout OM 2065 XX 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 robot side connector of the cable with a strain relief cable clamp ...

Страница 23: ...ure 3 5 3 Pinout of the 2 Finger pigtail and device cable If additional cable is used suggested cable specifications are as follow Power supply fusing minimum 22 AWG TEW 300 V or 600 V RS 485 signals minimum 24 AWG TEW 300 V or 600 V A and B signals must be at 120 Ohms balanced ...

Страница 24: ...er ACC ADT USB RS485 see the schematic in Figure 3 6 1 below to plug into a PC with the Robotiq User Interface installed Power up your Gripper with the previously recommended power supply Execute the R U I software and select auto connect on the connection screen You are now connected to your Gripper you can click activate to begin using the Gripper Figure 3 6 1 RS 485 to USB converter pinout ACC ...

Страница 25: ...f the USB to RS 485 converter Tip With the R U I controlling the Gripper you can go to the view menu to see input and output register values to further your understanding on how to command the Gripper You can also test gripping your parts with various speed and force settings See for Control details Section 4 ...

Страница 26: ... Gripper URCaps Package includes Gripper toolbar and Gripper node Incompatible Incompatible Compatible Compatible Refer to the appropriate section depending on your controller version Section 3 8 covers the installation of the 2 Finger Gripper URCaps Package Section 3 9 covers the software installation when not using URCaps Prior to any software installation on Universal Robots connect the white b...

Страница 27: ...s compatible with the package refer to Section 3 7 The Gripper s URCaps package contains The URCaps for the Gripper The Gripper toolbar The Gripper node For details on controlling the Gripper see Section 4 Info To get the URCaps package for your UR controller visit support robotiq com Tip For other robots where no driver package is available we recommend the use of the which allows fieldbus Roboti...

Страница 28: ...procedure to install the 2 Finger Gripper URCaps package Make sure that your Polyscope version is up to date and that your Universal Robots controller is compatible with the Gripper s URCaps package Go to and click on the 2 Finger Gripper product support robotiq com page Download the Robotiq_2 Finger_Adaptive_Gripper X X X urcap on a blank USB stick Insert the USB stick in the UR teach pendant or ...

Страница 29: ... package Open Robotiq_2 Finger_Adaptive_Gripper_Sensor X X X urcap Restart Polyscope to complete the URCaps installation By doing so you accept the License Agreement that is detailed in the URCap Information text box see below for the License Agreement When Polyscope reopens the Gripper toolbar will appear on the screen ...

Страница 30: ...e If you wish to uninstall the 2 Finger Gripper URCaps follow this procedure Go in Setup Robot Tap URCaps Setup In the Active URCaps text box tap the Gripper URCaps The Gripper URCaps should be highlighted Tap the minus button to uninstall the URCaps Restart Polyscope to complete the uninstallation process ...

Страница 31: ...wever the Software may not function on certain types of equipment Modifications and Upgrades The Licensor shall be under no obligation to provide any upgrade or modification to the Software However the End User shall be entitled to receive free of charge all modifications and upgrades of the Software provided by the Licensor if at such time the End User is not in default in respect of any of its o...

Страница 32: ...End User shall promptly uninstall the Software on any UR s Products and Licensor s Products computer or server on which it has been installed deliver to the Licensor all CDs DVDs magnetic tapes cards and other tangible items and materials embodying the Software and return to the Licensor all copies thereof or destroy such copies and warrant in writing that all copies thereof have been destroyed In...

Страница 33: ... com Software Packages The URCaps package also contains a driver package that is different from this section s If you have already installed the URCaps you do not need to install the driver package This section applies to Robotiq s software excluding the URCaps package If you wish to use the URCaps package refer to and Sections 4 2 1 4 2 2 Polyscope version Make sure your Polyscope version is up t...

Страница 34: ...status Do not unplug the flash drive until the operation is completed When a green USB text is shown unplug the USB drive Testing the Gripper When the installation is completed the Gripper toolbar button will appear on the teach pendant s screen after a short delay Use the toolbar to jog and test the Gripper Refer to Section 4 3 1 to get detailed information on how to use the Gripper toolbar Remov...

Страница 35: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 35 4 Control Info Unless specified all values in Section 4 are values hexadecimal ...

Страница 36: ...ler high level commands such as Go to requested position are used to control it Tip Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper like object detection and force control Info The operator can Control force speed and position of the Gripper fingers Finger movement is always synchronized movement is initiated via a single Go to request...

Страница 37: ... its status while will detail the output write register functions Section 4 3 and will detail the input read register status Figure 4 1 1 is a representation of the memory and the control logic of the Gripper Section 4 4 Figure 4 1 1 2 Finger control logic overview Control using packages Universal Robots Robotiq provide packages to be used with either require controller CB3 or higher or using subp...

Страница 38: ...t 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 2 1 Registers of the 2 Finger Gripper Caution Byte and not at 1 for the functionalities and status registers numeration starts at zero ...

Страница 39: ...c rGTO release routines 0x0 Stop 0x1 Go to requested position rATR Automatic Release routine action slowly opens the Gripper fingers until all motion axes reach their mechanical limits After all motion is completed the Gripper sends a fault signal and needs to be reinitialized before any other motion is performed The bit overrides all other commands excluding rATR the activation bit rACT 0x0 Norma...

Страница 40: ... 5 4 3 2 1 0 Symbol rPR This register is used to set the target position for the Gripper s fingers The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops Figure 4 3 1 represents the Position Request values and the corresponding distance between fingers X axis For detailed finger trajectory see Specification section 0x00 Open position with 85 mm or...

Страница 41: ...al Robotiq inc 2016 41 Register SPEED Address Byte 4 Bits 7 6 5 4 3 2 1 0 Symbol rSP This register is used to set the Gripper closing or opening speed in real time however setting a speed will not initiate a motion 0x00 Minimum speed 0xFF Maximum speed ...

Страница 42: ...es 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 notification See for details on force control Section 4 5 0x00 Minimum force 0xFF Maximum force Info Register byte 6 to 15 are reserved and should be set to zero ...

Страница 43: ...quested position No object detected 0x01 Fingers have stopped due to a contact while opening before requested position Object detected opening 0x02 Fingers have stopped due to a contact while closing before requested position Object detected closing 0x03 Fingers are at requested position No object detected or object has been loss dropped Caution The object detection is precise only to the order of...

Страница 44: ...n delayed activation reactivation must be completed prior to renewed action 0x07 The activation bit must be set prior to action Minor faults LED continuous red 0x08 Maximum operating temperature exceeded wait for cool down Major faults LED blinking red blue Reset is required rising edge on activation bit needed rACT 0x0A Under minimum operating voltage 0x0B Automatic release in progress 0x0C Inter...

Страница 45: ... 3 2 1 0 Symbol gPO gPO Actual position of the Gripper obtained via the encoders value between 0x00 and 0xFF 0x00 Fully opened 0xFF Fully closed Register FINGER CURRENT Address 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 detecti...

Страница 46: ...ows the expected applied force according to the payload material hardness speed setting and force setting All tests were done rSP rFR with the latest 2 Finger Gripper generation with firmware GC3 1 3 9 Data was obtained with a Load Cell from Phidget S Type model 3138 FINGER PAD PAYLOAD MEASURED FORCE MIN MAX N TYPE HARDNESS TYPE HARDNESS 2 Finger 85 2 Finger 140 Steel 4340 220 HV Steel 4340 220 HV...

Страница 47: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 47 Figure 4 5 1 Grip force on hardness 220 HV 4340 annealed carbon steel ...

Страница 48: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 48 Figure 4 5 2 Grip force on hardness 95 HV 6061 T6 aluminium ...

Страница 49: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 49 Figure 4 5 3 Grip force on hardness 60A silicone Figure 4 5 4 Grip force on hardness 40 A silicone ...

Страница 50: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 50 Figure 4 5 5 Grip force on hardness 10 A neoprene Figure 4 5 6 Grip force on hardness 30 OO polyurethane ...

Страница 51: ... until it reaches the position rPR request This feature is automatically set according to the force request rFR Re grasp will keep the position setting Finger motion will stop when position is reached even if there is no object rPR Force and speed settings are not used Re grasp force and speed will automatically adjust to keep the object from being lost dropped Info Feature is off at force request...

Страница 52: ...pped due to a contact while opening before requested position Object detected 0x02 Fingers have stopped due to a contact while closing before requested position Object detected 0x03 Fingers are at requested position No object detected or object has been lost dropped Object detection exemple Set position speed and force at maximum full closing rPR 0xFF 0xFF 0xFF rSP rFR Set go to requested will ini...

Страница 53: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 53 4 6 Control logic example Figure 4 6 1 Example of the 2 Finger control logic with associated registers ...

Страница 54: ...uide available at http www modbus org docs Modbus_over_serial_line_V1 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 chipkin com cas modbus scanner Info Modbus RTU is a communication protocol based on a Big Endian byte order Therefore the 16 bit register addresse...

Страница 55: ... Gripper Input First Register 0x03E8 1000 Robot Input Gripper Output First Register 0x07D0 2000 1 Various converters are available in the Spare parts 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 bytes 8 bits from the Gripper The first Gripper output Modbus register 2 0x07D0 is composed from the firs...

Страница 56: ...ains Gripper Status Object Detection Fault Status and Position Request Echo Request is 09 03 07 D0 00 02 C5 CE 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 Bits Description 09 SlaveID 03 Function Code 03 Read Holding Reg...

Страница 57: ...001 and 0x03EA Request 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 00E6 Value written to register 0x03E9 3CC8 Value written to register 0x03EA EC7C Cyclic Redundancy Check CRC Response...

Страница 58: ...nd 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 requested 2 read 03E9 Address of the first register written to 0002 Number of registers to 3 written 04 Number of data bytes to follow 2 registers X 2 bytes registers...

Страница 59: ...E8 00 03 06 00 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 0x03E9 ACTION REQUEST 0x01 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper 0000 Value written to register 0x0...

Страница 60: ...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 written to register 0x03EA 0000 Value written to register 0x03EB 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 A...

Страница 61: ...ID 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 Redundancy Check CRC Response if the activation IS completed 09 03 02 31 00 4C 15 Bits Description 09 SlaveID 03 Function Code 03 Read Holdin...

Страница 62: ...s register 6 bytes 0900 Value written to register 0x03E9 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 00FF Value written to register 0x03EA GRIPPER OPTIONS 2 0x00 and POSITION REQUEST 0xFF rPR 255 255 for full closing of the Gripper FFFF Value written to register 0x03EB SPEED 0xFF and FORCE 0xFF full speed and full force 4229 Cyclic R...

Страница 63: ...eID 03 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 00FF Content of register 07D1 FAULT STATUS 0x00 POSITION REQUEST ECHO 0xFF the position request echo tells that the...

Страница 64: ...7D0 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 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 C...

Страница 65: ...0900 Value written to register 0x03E9 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rGTO 1 for Go to Requested Position 0000 Value written 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 written to register 0x03EB SPEED 0xFF and FORCE 0xFF full speed and full f...

Страница 66: ...SlaveID 03 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...

Страница 67: ...US 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 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...

Страница 68: ...s Gripper toolbar The Gripper toolbar is automatically installed with the URCaps package It allows jogging and testing of the Gripper It is a great tool to try grasps with the Gripper while programming Gripper node The URCaps package adds a Gripper node that is used to add a Gripper command A node can make the Gripper move to a specific opening grasp an object and modify the speed and force applie...

Страница 69: ... open and close allows you to control the Gripper without activating this mode will use a very low speed and force setting Toolbar expanded Gripper operation window Use the buttons of this window to jog and test the Gripper Toobar Installation The Gripper URCaps package contains the Gripper toolbar Therefore the toolbar is automatically installed with the URCaps package The Gripper toolbar can be ...

Страница 70: ...r toolbar Tap to toggle between expand and collapse the 2 Finger Gripper toolbar When grey the functionality is not available Activate Tap to activate the 2 Finger Gripper The Gripper will fully open and close to set the zero of the position value Emergency open Slowly moves the Gripper to its fully closed position Emergency close Slowly moves the Gripper to its fully open position ...

Страница 71: ... close the Gripper Emergency close Shows the actual position of the Gripper 0 fully open 100 fully closed Shows the actual speed set of the Gripper 0 minimum speed 100 maximum speed Shows the actual force set of the Gripper 0 minimum force regrasp feature disabled 1 minimum force with regrasp feature enabled 100 maximum force with regrasp feature enabled Tap to increase the associated parameter Ta...

Страница 72: ...s bellow Tap on Program Robot Open an empty program or load one Go in the Structure tab Go in the URCaps tab Tap the Gripper button Go in the Command tab to edit the Gripper node previously inserted To edit the node s parameters tap Edit action The edit action screen will appear After taping the Gripper button from URCaps you have a Gripper node inserted in your robot program ...

Страница 73: ...ap Edit action to modify the Gripper s action When the node requests the Gripper to move to a specific position the Command window warns that this should not be performed to pick an object For positioning and partial movement of the hand moving to a position is correct To pick an object use the close or open actions along with the object detection feature Gripper activation The Gripper needs to be...

Страница 74: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 74 When the Gripper action is to close a green Close icon appears When the Gripper action is to open a green Open icon appears ...

Страница 75: ...t complete motion Selected by default Unselected As soon as the Gripper starts moving Polyscope will execute the next action on the program tree This allows you to move the Gripper and robot at the same time Warning message section Gripper not activated Warning the Gripper is not powered or not activated The Gripper will not move Make sure that the Gripper is installed correctly and powered You ne...

Страница 76: ... adjusting its position speed and force In normal usage the Gripper will move as soon as you change the position setting The Gripper will not move if it is not powered connected and activated Gripper activation The Gripper needs to be activated before it can receive a command To do so use the rq_activate_and_wait function script at the beginning of the program or activate with the Gripper toolbar ...

Страница 77: ...us icons to modify Requested force Shows the force requested for the selected Gripper node Use the Plus and Minus icons to modify Plus Tap to increase the associated parameter Minus Tap to decrease the associated parameter Cancel Cancels modifications and brings back to the Gripper node command screen Save action Saves settings into the selected Gripper node and brings back to the Gripper node com...

Страница 78: ... case of a safe recovery after an emergency stop rq_auto_release_close_and_wait Same as rq_auto_release_open_and_wait but for closing the Gripper useful in case of internal grip rq_is_object_detected Returns True if the Gripper motion has stopped due to an object Returns False if Gripper motion was not impeded by an object Useful for verifying that an object has been picked correctly before going ...

Страница 79: ...not compatible with the URCaps package see Section 3 7 for compatibility you can install the driver package This package allows programming of the Gripper with scripts in a Polyscope program It includes program templates and examples to help you get started with your own custom program It also contains the Gripper toolbar for jogging and controlling the Gripper ...

Страница 80: ... the Gripper Emergency open and close allows you to control the Gripper without activating this mode will use a very low speed and force setting Toolbar expanded Gripper operation window Use the buttons of this window to jog and test the Gripper Features Gripper activation window Primary icon Secondary icon Functionality name Description 2 Finger Gripper toolbar Tap to expand and collapse the 2 Fi...

Страница 81: ...open 100 fully closed Speed Requested speed Shows the actual speed set of the Gripper 0 minimum speed 100 maximum speed Force Requested force Shows the actual force set of the Gripper 0 minimum force regrasp feature disabled 1 minimum force with regrasp feature 100 maximum force with regrasp feature Increase force Tap to increase the force request Decrease force Tap to decrease the force request I...

Страница 82: ...e driver version The driver state RQ_STATE_INIT means the driver is attempting to connect to a Robotiq Gripper When connection is established the normal toolbar detailed above will appear Tip If you see the following toolbar with communication not established check if your Gripper is powered first then check if the RS 485 to USB converter is properly wired ...

Страница 83: ...he commands sent to the Gripper Robot Program Activate the Gripper with SubP_rq_activate_and_wait Move the robot to a predetermined position Close the Gripper with rq_close_and_wait Watch for object detection status If an object is detected the script moves the robot and opens the Gripper If no object is detected the script prompts a warning pick_and_place_demo_async_partial_opening_without_subpro...

Страница 84: ...sent to the Gripper Robot Program Activate the Gripper with SubP_rq_activate_and_wait Close the Gripper with rq_close_and_wait Open the Gripper with rq_open_and_wait Figure 4 3 3 1 Basic template as shown in UR Polyscope When using the advanced_template you have access to all of the subprograms listed in Section 3 7 4 Unused subprograms can be removed from the list You must use global variables to...

Страница 85: ...ubP_rq_set_force rq_gripper_act 0 1 1 if the Gripper is activated This variable is updated by calling either SubP_rq_is_gripper_activated or SubP_rq_acti vate_and_wait rq_move_complete 0 1 1 if the motion is complete This variable is updated by calling one of the following SubP_rq_move_and_wait SubP_rq_open_and_wait SubP_rq_close_and_wait SubP_rq_is_motion_complete rq_object_detect 0 1 1 if an obj...

Страница 86: ...tion and waits until the motion is completed to execute the next command rq_current_pos Sets global variable rq_pos to the current Gripper position and returns this value rq_is_gripper_activated Sets global variable rq_gripper_act to 1 if the Gripper is activated and returns True Otherwise sets the variable to 0 and returns False rq_is_motion_complete Sets global variable rq_mov_complete to 1 if t...

Страница 87: ...tiq inc 2016 87 5 User Interface Visit to get the latest installer of the Robotiq User Interface along with appropriate documentation http support robotiq com See the for details on usage of the Robotiq User Interface Robotiq User Interface Instruction Manual ...

Страница 88: ...on 6 1 technical dimensions of the Grippers Dimensions for custom blank coupling Dimensions of all available couplings Dimensions for custom fingertip Dimensions of all available fingertips Section 6 2 presents the mechanical specifications of the Grippers Section 6 3 gives electrical specifications for the Grippers Reminder The following manual uses the metric system unless specified all dimensio...

Страница 89: ...d for finger motion Figure 6 1 3 will show the equivalent with 140 mm fingers 2 Finger 140 Figure 6 1 1 2 Finger 85 general dimensions opened As mentioned in Figure 6 1 1 height and width of the fingers vary with opening position Figure 6 1 1 represents the 2F85 Gripper in the opened position position request 0 while Figure 6 1 2 represents the 2F85 Gripper in the closed position position request ...

Страница 90: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 90 Figure 6 1 2 2 Finger 85 dimensions closed ...

Страница 91: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 91 Figure 6 1 3 2 Finger 140 general dimensions opened ...

Страница 92: ...ger 140 dimensions closed As mentioned above Figure 6 1 3 height and width of the fingers vary with opening position Figure 6 1 3 represents the 2F140 Gripper in the opened position position request 0 while Figure 6 1 4 represents the 2F140 Gripper in the closed position position request 255 ...

Страница 93: ...rical contacts Below are the dimensions of the blank coupling AGC CPL 061 002 see 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 Figure 6 1 1 1 Blank coupling AGC CPL 061 002 workable area dimensions Info The coupling i...

Страница 94: ...SO 9409 1 50 4 M6 Bolt pattern for coupling see is compatible with AGC CPL 062 002 Spare Parts Kits and Accessories section 50 mm pitch circle diameter 4 M6 1 0 low head socket cap screw clearance 1 M6 indexing pin ISO 9409 1 standard 50 4 M6 Figure 6 1 1 2 Coupling for ISO 9409 1 50 4 M6 ...

Страница 95: ...09 1 31 5 4 M5 Bolt pattern for coupling see is compatible with AGC CPL 063 002 Spare Parts Kits and Accessories section 31 5 mm pitch circle diameter 4 M5 0 8 low head s cap screw clearance ocket 1 M5 indexing pin ISO 9409 1 standard 31 5 4 M5 Figure 6 1 1 3 Coupling for ISO 9409 1 31 5 4 M5 ...

Страница 96: ...SO 9409 1 40 4 M6 Bolt pattern for coupling see is compatible with AGC CPL 064 002 Spare Parts Kits and Accessories section 40 mm pitch circle diameter 4 M6 1 0 low head cap screw clearance socket 1 M6 indexing pin ISO 9409 1 standard 40 4 M6 Figure 6 1 1 4 Coupling for ISO 9409 1 40 4 M6 ...

Страница 97: ...65 002 Spare Parts Kits and Accessories section 56 mm pitch circle diameter 8 M4 0 7 low head cap screw clearance socket 1 M4 indexing pin 62 mm diameter internal insert Figure 6 1 1 5 Coupling for PCD 56 mm with 8 x M4 clearance Note 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 ...

Страница 98: ...th 6 x M4 Bolt pattern for coupling see is compatible with AGC CPL 066 002 Spare Parts Kits and Accessories section 56 mm pitch circle diameter 6 M4 0 7 low head cap screw clearance socket 1 M6 indexing pin 42 mm diameter external insert Figure 6 1 1 6 Coupling for PCD 56 mm with 6 x M4 clearance ...

Страница 99: ...th 4 x M5 Bolt pattern for coupling see is compatible with AGC CPL 067 002 Spare Parts Kits and Accessories section 60 mm pitch circle diameter 4 M5 0 8 low head cap screw clearance socket 1 M5 indexing pin 34 mm diameter external insert Figure 6 1 1 7 Coupling for PCD 60 mm with 4 x M5 clearance ...

Страница 100: ...g for PCD 63 with 6 x M6 Bolt pattern for coupling see is compatible with AGC CPL 068 002 Spare Parts Kits and Accessories section 63 mm pitch circle diameter 6 M6 1 0 low head cap screw clearance socket 2 M6 indexing pins Figure 6 1 1 8 Coupling for PCD 63 mm with 6 x M6 clearance ...

Страница 101: ...elow represents the fingertip holder the permanent non customizable part of the Gripper finger on which the fingertip must be mounted Figure 6 1 2 1 Finger holder for standard or custom designed fingertips Info The 2 Finger 85 and the 2 Finger 140 both use the same fingertips Info Socket head cap screw clearance will need low head cap screws if you intend to perform an internal grip otherwise the ...

Страница 102: ... 2 Finger 85 and 2 Finger 140 see AGC TIP 203 002 AGC TIP 225 140 Spare Parts Kits and Accessories This fingertip is meant for the customization of one surface it is symmetric while the other surface will mount onto the fingertip holder shown in section Sec tion 6 1 2 Figure 6 1 2 2 Blank fingertip AGC TIP 203 002 and AGC TIP 225 140 ...

Страница 103: ...ger 85 and 2 Finger 140 see AGC TIP 204 002 AGC TIP 220 140 Spare Parts Kits and This fingertip has a flat silicone surface with an optimal friction coefficient for picking parts while the other surface will mount onto the Accessories section fingertip holder shown in Section 6 1 2 Figure 6 1 2 3 Flat silicone fingertip AGC TIP 204 002 and AGC TIP 220 140 ...

Страница 104: ... Finger 140 see AGC TIP 205 002 AGC TIP 221 140 Spare Parts Kits and This fingertip has a grooved surface with an optimal shape for picking cylindrical parts by its horizontal and vertical grooves while the Accessories section other surface will mount onto the fingertip holder shown in Section 6 1 2 Figure 6 1 2 4 Grooved fingertip AGC TIP 205 002 and AGC TIP 221 140 ...

Страница 105: ...m s 0 8 to 5 9 in s 30 to 250 mm s 1 2 to 9 8 in s Position repeatability 1 0 05 mm 0 002 in 0 08 mm 0 003 in Force repeatability 10 Position resolution 2 0 4 mm 0 016 in 0 6 mm 0 022 in Grip force resolution Maximum force calculation below see for force control Section 4 5 1 Repeatability is defined as the positional deviation resulting from the average displacement determined when picking an obj...

Страница 106: ... force Actuation force model used to calculate recommended payload is described in Figure 6 3 1 the user must not exceed the force F and torque T limits Figure 6 2 1 Actuation force on the fingertip of the Adaptive Gripper 2 Finger see charts below for 2 Finger 85 and 2 Finger 140 force ...

Страница 107: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 107 Figure 6 2 2 Grip force in the Y and Z axis for the 2 Finger 85 and 2 Finger 140 ...

Страница 108: ...seen in figure 6 2 2 Info For example if the silicone fingertips are used to lift a lubricated steel part machine tending with cutting oils the friction coefficient AGC TIP 204 would be 0 3 tested static coefficient of friction Maximum weight with a safety factor of 2 4 would be W 2 x 200 N x 0 3 2 4 50 N This calculation means that a 5 kg part will be held by the Gripper when not moving standing ...

Страница 109: ...ion is detailed in Figure 6 2 3 below where is the opening angle between the Gripper proximal bar and center line d is the distance between the bottom of the finger pads and the equilibrium line as seen on the Z axis in figure 6 2 2 Figure 6 2 3 Position of the Gripper equilibrium line according to the opening angle for 2 Finger 85 and 2 Finger 140 options ...

Страница 110: ...rdinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in The center of mass and moment Figure 6 1 1 of inertia are calculated for a configuration where the fingers are fully open Here is the approximate position for the center of mass Figure 6 2 1 1 Robotiq 2 Finger center of mass ...

Страница 111: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 111 Here is the approximate moment of inertia matrix for the Gripper Figure 6 2 1 2 Robotiq 2 Finger intertia matrix ...

Страница 112: ...Nm 5 Nm Mz 3 Nm 3 Nm Moments in x and y are calculated from the base of the finger tips as shown in figure 6 2 2 Example usage of the listed limit After picking it s normal payload the robot can use the 2 Finger 85 Gripper to apply up to 50 N of force in any direction Applying more then 50 N could damage the Gripper or result in payload loss The Gripper can pick a screwdriver and apply 3 Nm of tor...

Страница 113: ...per Instruction Manual Robotiq inc 2016 113 6 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 ...

Страница 114: ...s Periodic Inspection X Finger Pad Replacement1 X Overhaul2 X 1 Replace pads before if wear is visible 2 Overhaul is recommended after 2M cycles and is done by Robotiq at the user s expense please contact Robotiq support Visit for details on the required maintenance operations support robotiq com Warning Unless specified any done on the Gripper will be done by Robotiq repairs Info A cycle is defin...

Страница 115: ...ripper Clean the Gripper with a dry towel remove all debris dirt and dust from the surface of the Gripper clean all pads dry thoroughly Clean the coupling with a dry towel pay particular attention to the electrical contact Visually inspect the Gripper and pay attention to any visible damage Put back on and fix it with the four 4 M5 0 8 x 35mm socket head cap screws use the tooth lock washers apply...

Страница 116: ...ovement by pushing fingers open the fingers must come back to the initial starting position on its own Test the general movement of the fingers by actuation using the screwdriver insertion hole in the chassis Finger pad wear must not affect gripping if wear is visible and affects movement change fingerpad s Check for any collision damage if damage is visible contact Robotiq support Check for any s...

Страница 117: ...rts and accessories section to order Robotiq 2 Finger Adaptive Robot Gripper replacement parts Remove and clean the Gripper following instructions in 7 1 Gripper cleaning Remove the worn fingertip by removing the M3 screws with the 2 mm hex key Clean the fingertip holder and dry thoroughly Insert the new fingertip by inserting the indexing pin in the fingertip holder Fix the fingertip using the pr...

Страница 118: ...cycles or when warranty expires Overhaul is done by Robotiq please contact Robotiq support service Gripper overhaul includes but is not limited to Worn parts changed Power transmission gearing mechanism Plain bearings Ball bearings Quality control Specification test force speed position Overhaul takes a maximum of 5 business days after reaching Robotiq shipping is at customer s expense Tip Loan un...

Страница 119: ...r 56 mm PCD with 8 M4 and 1 4mm indexing pin with screws for 2 F Gripper fixation 1 and 1 m pigtail cable AGC CPL 065 002 56 6M4 1D6 coupling Coupling for 56 mm PCD with 6 M4 and 1 6mm indexing pin with screws for 2 F Gripper fixation 1 and 1 m pigtail cable AGC CPL 066 002 60 4Ø5 1D5 coupling Coupling for 60 mm PCD with 4 M5 thread and 1 5mm indexing pin with screws for 2 F Gripper 1 fixation and...

Страница 120: ...ip2 Grooved aluminium fingertip for 2 Finger Adaptive Gripper meant to pick cylindrical objects in both Y and Z axis included one 1 C 205 or C 221 Fingertip two 2 screws M3 0 5 x 8 mm LHCS one 1 dowel pin 3 x 10 m6 AGC TIP 205 002 AGC TIP 221 140 Replacement palm pad Replacement palm pad for the 2 Finger Adaptive Gripper included one 1 Palm pad C 010 four 4 screws M3 0 5 x 8 mm LHCS AGC PAD 010 00...

Страница 121: ...e communication parameters from the Robotiq User Interface see recovery procedure Contact support Red and green flashing at high speed Check maximum operating temperature could be exceeded fault status Contact support When using 2 Finger with package Universal Robots Troubleshooting from the previous section LED references still applies From the UR teach pendant URcaps install Verify that the late...

Страница 122: ...ork piece and wearing parts such as the finger and palm pads are not covered by the warranty This warranty is in lieu of all other warranties expressed implied or statutory including but not limited to the implied warranties of merchantability and fitness for a particular purpose In no event shall Robotiq be liable for special incidental or consequential damages Robotiq shall not be liable for dam...

Страница 123: ...cts of nature causes external to the Gripper or other factors beyond Robotiq s control Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring any obligation to make any changes whatsoever on units already purchased Patent This product incorporates technology developed by Lionel Birglen professor at Polytechnique Montreal and is...

Страница 124: ... 11 Contact www robotiq com Contact Us Phone 1 888 ROBOTIQ 762 6847 01 418 380 2788 Outside US and Canada Fax 1 418 800 0046 Technical support and Engineering extension 207 Sales extension 122 Head office Robotiq 966 chemin Olivier Suite 325 St Nicolas Québec G7A 2N1 Canada ...

Страница 125: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 125 A Harmonized standards declarations and certificates A1 Translation of original EC declaration of incorporation ...

Страница 126: ...Robotiq 2 Finger Adaptive Gripper Instruction Manual Robotiq inc 2016 126 ...

Страница 127: ... safety and performance requirements for similar products 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 12100 2010 Safety of machinery General principles for design Risk assessment and risk reduction NF EN IEC 60204 1 2006 Safety of machinery Electrical ...

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