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ROBOTIQ Gripper, Инструкция по эксплуатации

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Robotiq 3-Finger Adaptive Robot Gripper

Instruction Manual

Robotiq inc. © 2008 - 2014

47

Address: Byte 5

Bits

7

6

5

4

3

2

1

0

Symbols

rFRA

The force setting defines the final grasping force of the Adaptive Gripper (or Finger A only if bit 

 is set). The

rICF

force will fix maximum current sent to the motors while in motion. For each finger, if the current limit is exceeded, the
finger stops and triggers an object detection notification.

rFRA 

0x00 minimum force
0xFF maximum force

Info

Force setting is overridden for a short period when the motion is initiated. Also, note that 0x00
force does not mean zero force; it is the minimum force that the Gripper can apply.
Minimum force: 15 N
Maximum force: 60 N
Force / count: 0.175 N (approximate value, relation non-linear)

Register: FINGER B POSITION REQUEST
Address: Byte 6

Bits

7

6

5

4

3

2

1

0

Symbols

rPRB

This register is used to set the Finger B target position. It is only available if the Individual Control of Finger option is
selected (bit 

 is set). Please refer to 

 (position request) register for more information.

rICF

rPRA

Register: FINGER B SPEED
Address: Byte 7

Bits

7

6

5

4

3

2

1

0

Symbols

rSPB

This register is used to set Finger B speed. It is only applied if the Individual Control of Finger option is selected (bit r

 is set). Please refer to 

 (speed) register for more information.

ICF

rSPA

Register: FINGER B FORCE
Address: Byte 8

Bits

7

6

5

4

3

2

1

0

Symbols

rFRB

This register is used to set Finger B force. It is only applied if the Individual Control of Finger option is selected (bit rI

 is set). Please refer to 

 (force) register for more information.

CF

rFRA

Register: FINGER C POSITION REQUEST
Address: Byte 9

Содержание Gripper

Страница 1: ...1 ROBOTIQ INC 2014 Get the latest version of the manual at support robotiq com...

Страница 2: ...FC16 62 4 7 5 Master read write multiple registers FC23 63 4 7 6 Modbus RTU example 65 4 8 MODBUS TCP communication protocol 75 4 8 1 Connection Setup 75 4 8 2 Read Input Registers FC04 76 4 8 3 Pres...

Страница 3: ...Revision 120209 Update for Robotiq Adaptive Gripper S model 5 1 Revision 120118 Update for Robotiq Firmware 3 0 Revision 111031 Sections added User Interface and MODBUS TCP communication protocol Revi...

Страница 4: ...wing section presents the key features of the Gripper and should not be considered as being related to Gripper operation each feature is detailed in the appropriate section of the manual Safety guidel...

Страница 5: ...for the 3 Finger Adaptive Robot Gripper changing the Operation Mode Operation Modes The is the most versatile Operation Mode It is best suited for objects that have one dimension basic mode longer th...

Страница 6: ...of the fingers as shown in Figure 1 4 This action is performed with a single input from the user Each finger is not controlled independently the Gripper itself closes each finger until it reaches a st...

Страница 7: ...using the Encompassing Grip whenever possible to increase grip stability Figure 1 5 shows the two types of grips Figure 1 5 The Two Types of Grip Encompassing and Fingertip Grips Note It is important...

Страница 8: ...e an It will depend Encompassing or Fingertip grip is decided at the Gripper level automatically on The Operation Mode The part s geometry The relative position of the part with respect to the Gripper...

Страница 9: ...Robotiq 3 Finger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 9 Figure 1 6 Operation Modes vs Types of Grip...

Страница 10: ...f the following operations on the 3 Finger Adaptive Robot Gripper Installation Control Maintenance Inspection Calibration Programming Decommissioning This documentation explains the various components...

Страница 11: ...Set the Gripper pinch force and speed accordingly based on your application Keep fingers and clothes away from the Gripper while the power is on Do not use the Gripper on people or animals For welding...

Страница 12: ...t objects 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 au...

Страница 13: ...TCP Modbus TCP M232 Modbus RTU over serial 232 M485 Modbus RTU over serial 485 ECAT EtherCAT DNET DeviceNet CANO CANopen PNET PROFINET Default fingertip see Technical dimensions 5m Power cable for the...

Страница 14: ...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 fr...

Страница 15: ...llation of the Gripper see Figure 3 3 1 Note that all screws must be locked in place using medium strength thread locker Loctite 248 Screw the Coupling to your robot arm if your cables are running thr...

Страница 16: ...V DC Output current 2 A Ripple 2 3 peak peak Output regulation 10 maximum Overcurrent 4 A fuse at 77 F 25 C o Maximum fuse I t factor 2 100 A s at 77 F 25 C 2 o Overvoltage protection Not required1 W...

Страница 17: ...present on all products Info Note that the communication connector COM shown in figure 3 5 1 will change according to the provided communication protocol Status LED USB 2 0 port and power connector PW...

Страница 18: ...the 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 putting te...

Страница 19: ...per should be connected to a power source Figure 3 5 1 1 Figure 3 5 1 1 Power connection diagram of the 3 Finger Adaptive Robot Gripper Caution The 4A fuse is external to the Gripper It is not provide...

Страница 20: ...Finger Grippers see the Serial Communication section If not using RS485 communication simply leave the two wires unconnected Protocol The should be supplied with cables that have the following specifi...

Страница 21: ...s Family Protocol Real Time Ethernet EtherNet IP Modbus TCP IP PROFINET EtherCAT Fieldbus DeviceNet CANopen Serial Modbus RTU via RS232 or RS485 The communication cable and connectors provided with th...

Страница 22: ...eNet communication pinout The DeviceNet communication and the use a 24 V supply Robotiq suggests separating the power 3 Finger Gripper supplies as shown in Figure 3 5 2 2 Caution There is no terminati...

Страница 23: ...or the using DeviceNet Fieldbus 3 Finger Gripper Factory settings for DeviceNet protocol Identification Settings Info Decimal Value base 10 Hexadecimal Value base 16 Vendor ID 283 0x0000011B Product C...

Страница 24: ...Robotiq 3 Finger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 24 BUS SETTINGS MAC ID 11 Baud Rate 250 KBaud DATA SETTINGS Prod Data Length 16 Cons Data Length 16...

Страница 25: ...ipper and the cable female provided with your Gripper Figure 3 5 2 3 CANopen communication pinout Caution There is no terminating resistor mounted in the Gripper The shield of the cable must be ground...

Страница 26: ...wer connection diagram of the 3 Finger Gripper using CANopen Fieldbus Factory settings for CANopen protocol IDENTIFICATION SETTINGS Info Decimal value base 10 Hexadecimal value base 16 Vendor ID 68 0x...

Страница 27: ...2014 27 BUS SETTINGS MAC ID 11 Baud Rate 1 MBaud DATA SETTINGS Index Size Send Object 0x2000 128 Receive Object 0x2200 128 Output Databytes 512 Input Databytes 512 Hint The CANopen communication inter...

Страница 28: ...IP protocols See the Real Time Ethernet pin out diagram below Figure 3 5 2 5 for the receptacle female present on the 3 Finger Adaptive Robot Gripper and the cable male provided with your Gripper Fig...

Страница 29: ...0FFFF Vendor ID 0x0000011B Vendor ID 0x0000011E N A Product Code 0x0000000B Product Code 0x0000010D Device ID 0x0000010A Serial Number 0x00000000 Product Type 0x0000000C Device Type Revision Number 0x...

Страница 30: ...IP Address 192 168 1 11 Netmask 255 255 255 0 Watchdog Time 1000ms Netmask 255 255 255 0 Gateway Disabled Gateway Disabled BootP Disabled BootP Disabled DHCP Disabled DHCP Disabled 100Mbit Enabled 100...

Страница 31: ...s 16 Prod Data Length 20 Output Data Bytes 16 N A Output Data Bytes 16 Cons Data Length 20 Module 1 N A Type Byte Count 16 Input Data Bytes 16 Module 5 Type Byte Count 16 Info Ethercat protocol uses i...

Страница 32: ...tacle male present on the 3 Finger Adaptive Robot Gripper and the cable female provided with your Gripper Note When using serial communication power wiring must still respect the schematics described...

Страница 33: ...ger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 33 Figure 3 5 2 7 Serial communication converted from RS485 to RS232 Factory settings for Modbus RTU protocols IDENTIFICATION SETTIN...

Страница 34: ...Parity None Number Notation Hexadecimal Supported Functions Read Holding Registers FC03 Preset Single Register FC06 Preset Multiple Registers FC16 Exception Responses Not supported Slave ID 0x0009 9...

Страница 35: ...mware 3 0 Grippers delivered after November 2011 For prior versions please see the documentation archives The Robotiq 3 Finger Adaptive Robot Gripper is controlled from the robot controller see Figure...

Страница 36: ...ivate robot output functionalities Read in the registers to get the of the Gripper robot input status To control the 3 Finger Adaptive Robot Gripper must be written the Output Registers Functionnaliti...

Страница 37: ...global Gripper Status is available This gives information such as which Operation Mode is currently active or if the Gripper is closed or open Object Status There is also an Object Status that let yo...

Страница 38: ...er Instruction Manual Robotiq inc 2008 2014 38 4 2 Status LEDs Three status LED lights provide general information about the 3 Finger Adaptive Robot Gripper status Figure 4 2 1 shows the LEDs and thei...

Страница 39: ...COLOR STATE INFORMATION Green Off No network detected Green Blinking A network has been detected and no connection has been established Green On A network has been detected and at least one connectio...

Страница 40: ...advanced option Otherwise a register mapping for the Advanced Control Mode containing all the Gripper functionalities is also provided From the Gripper standpoint there is no difference between the tw...

Страница 41: ...Byte 0 ACTION REQUEST GRIPPER STATUS Byte 1 00 OBJECT DETECTION Byte 2 00 FAULT STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED FINGER A POSITION Byte 5 FORCE FINGER A CURRENT Byte 6 00...

Страница 42: ...QUEST ECHO Byte 4 SPEED FINGER A IN INDIVIDUAL MODE FINGER A POSITION Byte 5 FORCE FINGER A IN INDIVIDUAL MODE FINGER A CURRENT Byte 6 FINGER B POSITION REQUEST FINGER B POS REQUEST ECHO Byte 7 FINGER...

Страница 43: ...option is ignored if the bit is set individual control of the scissor motion option rICS 0x0 Go to Basic Mode 0x1 Go to Pinch Mode 0x2 Go to Wide Mode 0x3 Go to Scissor Mode rGTO The Go To action mov...

Страница 44: ...cription for information about the reachable rPRA positions of the fingers 0x0 Normal 0x1 Enable Individual Control of Fingers A B and C Caution As soon as the bit is set the fingers will move towards...

Страница 45: ...get position of the fingers for the Adaptive Gripper or Finger A only if bit is rICF set The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops Figur...

Страница 46: ...VIDUAL MODE Address Byte 4 Bits 7 6 5 4 3 2 1 0 Symbols rSPA This register is used to set the Gripper closing or opening speed or Finger A only if bit is set in real time rICF however setting a speed...

Страница 47: ...ximate value relation non linear Register FINGER B POSITION REQUEST Address Byte 6 Bits 7 6 5 4 3 2 1 0 Symbols rPRB This register is used to set the Finger B target position It is only available if t...

Страница 48: ...0 Symbols rFRC This register is used to set Finger C force It is only applied if the Individual Control of Finger option is selected bit rI is set Please refer to force register for more information C...

Страница 49: ...struction Manual Robotiq inc 2008 2014 49 This register is used to set the scissor axis force It is only applied if the Individual Control of Scissor option is selected bit is set Please refer to forc...

Страница 50: ...matic release 0x1 Go to Position Request gIMC Gripper status returns the current status of the Gripper 0x00 Gripper is in reset or automatic release state See Fault status if Gripper is activated 0x01...

Страница 51: ...tatus returns information on possible object contact from Finger C 0x00 Finger C is in motion only meaningful if gGTO 1 0x01 Finger C has stopped due to a contact while opening 0x02 Finger C has stopp...

Страница 52: ...mstances object detection may not detect an object even if it is successfully grasped For example picking up a thin object in a Fingertip Grip may be successful without object detection occurring For...

Страница 53: ...lt LED continuous red 0x09 The communication chip is not ready may be booting 0x0A Changing mode fault interference detected on Scissor for less than 20 sec 0x0B Automatic release in progress Major fa...

Страница 54: ...l control mode gPRA is the echo of Finger A otherwise it is the general position requested to all fingers Register FINGER A POSITION Address Byte 4 Bits 7 6 5 4 3 2 1 0 Symbol gPOA gPOA Returns the ac...

Страница 55: ...maximum position fully closed Register FINGER B CURRENT Address Byte 8 Bits 7 6 5 4 3 2 1 0 Symbol gCUB gCUB Returns a value that represents the Finger B with instantaneous current consumption from 0x...

Страница 56: ...ed position of the scissor action rPRS 0x00 is the minimum position fully open and 0xFF is the maximum position fully closed Register SCISSOR POSITION Address Byte 13 Bits 7 6 5 4 3 2 1 0 Symbol gPOS...

Страница 57: ...rol logic example Figure 4 6 1 represents the general structure and logic for control of the 3 Finger Adaptive Robot Gripper See the following subsections for details on specific industrial communicat...

Страница 58: ...reader is invited to read the Modbus over serial line specification and implementation guide available at http www modbus org docs Modbu s_over_serial_line_V1 pdf For debugging purposes the reader is...

Страница 59: ...ion Hexadecimal Supported Functions Read Holding Registers FC03 Preset Single Register FC06 Preset Multiple Registers FC16 Exception Responses Not supported Slave ID 0x0009 9 Robot Output Gripper Inpu...

Страница 60: ...atus Object Detection Fault Status and Position Request Echo Request is 09 03 07 D0 00 02 C5 CE where BITS DESCRIPTION 09 SlaveID 03 Function Code 03 Read Holding Registers 07D0 Address of the first r...

Страница 61: ...n of the Gripper by setting register 0x03E8 1000 which contains an Action Request and Gripper Options to 0x0100 Request is 09 06 03 E8 01 00 09 62 where BITS DESCRIPTION 09 SlaveID 06 Function Code 06...

Страница 62: ...t 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 written registers 04 Numbe...

Страница 63: ...ction Fault Status and Position Request Echo while setting Position Request Speed and Force of the Gripper is done by setting registers 0x03E9 1001 and 0x03EA 1002 Request is 09 23 07 D0 00 02 03 E9 0...

Страница 64: ...ultiple 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 3 Finge...

Страница 65: ...second location to release the gripped object Step 1 Activation Request Request is 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1 where BITS DESCRIPTION 09 SlaveID 10 Function Code 16 Preset Multiple Re...

Страница 66: ...sters 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check CRC Step 2 Read Gripper status until the activation is completed Request is 09 03 07 D0 00 01 85...

Страница 67: ...ripper Activation gIMC 1 for Activation in progress 55D5 Cyclic Redundancy Check CRC Response if the activation IS completed 09 03 02 31 00 4C 15 where BITS DESCRIPTION 09 SlaveID 03 Function Code 03...

Страница 68: ...ION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rMOD 0 for Go to Basic Mode rGTO 1 for Go to Requested Position 00FF Value written to register 0x03EA GRIPPER OPTIONS 2 0x00 and P...

Страница 69: ...00 89 00 00 73 70 where BITS DESCRIPTION 09 SlaveID 03 Function Code 03 Read Holding Registers 10 Number of data bytes to follow 8 registers x 2 bytes register 16 bytes 39C0 Content of register 0x07D0...

Страница 70: ...ed 09 03 10 B9 EA 00 FF BC 00 00 C1 00 00 BD 00 00 89 00 00 4E 17 where BITS DESCRIPTION 09 SlaveID 03 Function Code 03 Read Holding Registers 10 Number of data bytes to follow 8 registers x 2 bytes r...

Страница 71: ...ipper at full speed and full force Request is 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19 where BITS DESCRIPTION 09 SlaveID 10 Function Code 16 Preset Multiple Registers 03E8 Address of the first reg...

Страница 72: ...y Check CRC Step 8 Read gripper status until the opening is completed Request is 09 03 07 D0 00 08 45 C9 where BITS DESCRIPTION 09 SlaveID 03 Function Code 03 Read Holding Registers 07D0 Address of th...

Страница 73: ...184 255 and the motor current is 170mA these values will change during motion 00BD Content of register 0x07D3 FINGER B POSITION REQUEST ECHO 0x00 FINGER B POSITION 0xBD 0E00 Content of register 0x07D...

Страница 74: ...register 0x07D2 FINGER A POSITION 0x07 FINGER A CURRENT 0x00 the position of finger A is 7 255 and the motor current is 0mA 0006 Content of register 0x07D3 FINGER B POSITION REQUEST ECHO 0x00 FINGER...

Страница 75: ...rval delay of 10ms Note that the updated frequency may drop under some conditions where the response time would be longer 4 8 1 Connection Setup The following table describes the connection requiremen...

Страница 76: ...statuses except for the scissor axis Request is 01 00 00 00 00 06 02 04 00 00 00 06 where BITS DESCRIPTION 01 00 Transaction identifier 00 00 Protocol identifier 00 06 Length 02 UnitID 04 Function 04...

Страница 77: ...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 register...

Страница 78: ...on Request Request is 33 9A 00 00 00 0D 02 10 03 E8 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...

Страница 79: ...st 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 03 07 D0 00 01 where BITS DESCRIPTION 4533 Unique transaction...

Страница 80: ...r Activation gIMC 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 P...

Страница 81: ...ue written to register 0x03E9 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate Gripper rMOD 0 for Go to Basic Mode rGTO 1 for Go to Requested Position 00FF Value written to register 0x...

Страница 82: ...0 08 where BITS DESCRIPTION 776B Unique transaction identifier chosen randomly 0000 Protocol Identifier Modbus 0006 Length 02 SlaveID 04 Function Code 04 Read Input Registers 07D0 Address of the first...

Страница 83: ...t the command was well received and that the GRIPPER STATUS is valid 080F Content of register 0x07D2 FINGER A POSITION 0x08 FINGER A CURRENT 0x0F the position of finger A is 8 255 and the motor curren...

Страница 84: ...STATUS 0x00 POSITION REQUEST ECHO 0xFF the position request echo tells that the command was well received and that the GRIPPER STATUS is valid BC00 Content of register 0x07D2 FINGER A POSITION 0xBC F...

Страница 85: ...registers to write to 06 Number of data bytes to follow 3 registers x 2 bytes register 6 bytes 0900 Value written to register 0x03E9 ACTION REQUEST 0x09 and GRIPPER OPTIONS 0x00 rACT 1 for Activate G...

Страница 86: ...of written registers Step 8 Read Gripper status until the opening is completed Request is D6 05 00 00 00 06 02 04 07 D0 00 08 where BITS DESCRIPTION D605 Unique transaction identifier chosen randomly...

Страница 87: ...the command was well received and that the GRIPPER STATUS is valid B80B Content of register 0x07D2 FINGER A POSITION 0xB8 FINGER A CURRENT 0x0B the position of finger A is 184 255 and the motor curren...

Страница 88: ...TATUS is valid 0700 Content of register 0x07D2 FINGER A POSITION 0x07 FINGER A CURRENT 0x00 the position of finger A is 7 255 and the motor current is 0mA 0006 Content of register 0x07D3 FINGER B POSI...

Страница 89: ...is built using the following formula UR REGISTER0 BYTE1 256 BYTE0 Tip One thing to try first is to send the value 256 to REGISTER0 This command 1 on the activate bit will trigger the initialization ro...

Страница 90: ...nual Robotiq inc 2008 2014 90 5 User Interface Visit http support robotiq com to get the latest installer of the Robotiq User Interface along with appropriate documentation See the for details on usag...

Страница 91: ...Robotiq 3 Finger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 91 6 Specifications 6 1 Technical dimensions Figure 6 1 1 Robotiq technical dimensions 3 Finger Adaptive Robot Gripper...

Страница 92: ...er Approximate Weight 5 lbs 2 3 kg Recommended Payload Encompassing Grip 22 lbs 10 kg Recommended Payload Fingertip Grip 1 5 5 lbs 2 5 kg Maximum Grip Force Fingertip Grip 13 5 lbf 60 N Maximum Break...

Страница 93: ...s the sum of the Actuation Force from Fingers B and C 20 20 40 N The user of the Gripper must always ensure that the result of the forces against the finger is always lower than the maximum Break Away...

Страница 94: ...n The Robotiq 3 Finger Adaptive Robot Gripper Finger Pads are a usable part meant for frequent change after a maximum of 1 Mio cycles that can be customized The Finger Pad S 013 and Finger Pad S 014 a...

Страница 95: ...3 1 2 for the Proximal and Median Pads thread pattern for custom design Note Custom pads must be fixed with both available thread patterns never modify the Fingers without Robotiq s consent first Fig...

Страница 96: ...Spare Parts Kits and accessories To assemble standard or custom Palm Pad Align the Palm Pad S 071 with the correct emplacement Fix the Palm Pad with four 4 4 40 x 1 4 Z 200425 Flat Head Machine Screw...

Страница 97: ...Robotiq 3 Finger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 97 Figure 6 3 2 2 Bolt pattern of the Palm Pad for the 3 Finger Adaptive Robot Gripper...

Страница 98: ...ion 8 Spare Parts Kits and accessories To assemble standard or custom Fingertip Align the Fingertip S 016 with the correct emplacement Fix each Fingertip with two 2 8 32 x 3 8 socket head cap screw SH...

Страница 99: ...Robotiq 3 Finger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 99 Figure 6 3 3 2 Bolt pattern of the Fingertip for the 3 Finger Adaptive Robot Gripper Fingers...

Страница 100: ...r Adaptive Gripper is shown in This represents a configuration where the fingers are fully open in Wide Mode Figure 6 1 1 Info All values are approximate Actual coordinates may vary according to finge...

Страница 101: ...2008 2014 101 6 5 Electrical ratings SPECIFICATION VALUE Operating Supply Voltage 24 V Absolute Maximum Supply Voltage 28 V Quiescent Power minimum power consumption 4 1 W Peak Power at maximum gripp...

Страница 102: ...upling can be used to create a custom coupling between the Gripper Universal Wrist and your robot Provided screw clearance and dowel pin hole are meant for installation on the Universal Wrist Top face...

Страница 103: ...ant for coupling between the Gripper Universal Wrist and Yaskawa SDA 5D or Yaskawa SDA 10D robots Provided screw clearance and dowel pin hole are meant for installation on the Universal Wrist Top face...

Страница 104: ...ll 3 Finger Adaptive Robot Grippers Your custom coupling must be designed for fixation on the provided wrist Figure 6 6 3 1 3 Finger Adaptive Robot Gripper dimensions for custom coupling Info The Grip...

Страница 105: ...your warranty Proper lifetime for your Gripper Please visit for details on maintenance operations support robotiq com Warning Unless specified any repairs done on the Gripper or its controller will b...

Страница 106: ...e normal usage of the Gripper the maintenance intervals must be adjusted according to environmental conditions such as Operating temperature Humidity Presence of chemical s Presence of physical parts...

Страница 107: ...r is not waterproof clean the Gripper with a dry towel Note Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper Procedure Insert the 2 0 mm precision scre...

Страница 108: ...lose the Robotiq Adaptive Gripper finger manually see Manual Opening of Fingers for details or by using the Robotiq User Interface see the User Interface section for details When the finger is closed...

Страница 109: ...pper cleaning 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 Tes...

Страница 110: ...ads Twelve 12 4 40 X 1 4 Flat Head Machine Screws Philips zinc coated See section to order Robotiq 3 Finger Adaptive Robot Gripper replacement parts Spare Parts Kits and Accessories Note Always turn o...

Страница 111: ...rder Robotiq 3 Finger Adaptive Robot Gripper replacement parts Spare Parts Kits and Accessories Note Always turn off robot and Gripper power supply before performing maintenance operations on the Grip...

Страница 112: ...inger Adaptive Robot Gripper replacement parts Spare Parts Kits and Accessories Note Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper Procedure Re...

Страница 113: ...ive Robot Gripper especially when manipulating snap rings Procedure Remove the Gripper from the robot following schematics in section 3 3 Mechanical connections Clean the Gripper following instruction...

Страница 114: ...114 7 8 Overhaul Maintenance interval Tools you need Parts you need 2 M cycles 1 year or at warranty expiration None None Gripper overhaul is necessary when the Gripper reaches 2 M cycles or at warran...

Страница 115: ...EtherCAT DNET Device Net CANO CANopen M232 Modbus RTU over 232 M485 Modbus RTU over 485 PNET PROFINET AGS 001 XXXX Blank Coupling Blank Coupling to fix on 3 Finger Adaptive Gripper Universal Wrist AGS...

Страница 116: ...m PCD 1 seven 7 M6 screws one 1 6 mm M6 dowel pin Meant for use on S 101 Coupling AGS APL 157 S 158 Adapter plate for 50 mm PCD 1 four 4 M6 screws Meant for use on S 101 Coupling AGS APL 158 S 159 Ada...

Страница 117: ...for serial communication via RS232 or RS485 CBL PWR 2054 DeviceNet cable 5m Fieldbus cable for 3 Finger Adaptive Robot Gripper right angle M12 5 pins female 5 pins Combicon Meant for use with DeviceNe...

Страница 118: ...ne Screws Philips zinc coated AGS PAD S071 Finger Tip includes one 1 Finger Tip S 016 6061 aluminium body with black silicone cover two 2 8 32 X 3 8 Socket Head Cap Screws AGS PAD S016 Finger includes...

Страница 119: ...Manual Robotiq inc 2008 2014 119 Grease syringe includes 1g high viscosity grease syringe for worm gears of the 3 Finger Adaptive Gripper ACC LUB SHC1500 1 Pitch Circle Diameter 2 One 3 Finger Gripper...

Страница 120: ...No fault go to step 5 It s BLINKING Major fault occurred reset activate the Gripper see section 5 4 1 It s ON Automatic release or booting in process wait until it s off if blinking reset is needed Co...

Страница 121: ...User Interface section return to top Q Cannot establish connection under EtherNet IP or Modbus TCP IP A Default settings for EtherNet IP and Modbus TCP IP use fixed addresses you must Check Gripper ad...

Страница 122: ...he Gripper and make sure no debris or fluid is present between the finger phalanx and bar repeat for each finger return to top Q Gripping force changed since first usage A Make sure the finger pads ar...

Страница 123: ...into contact with the work piece and wearing parts such as the finger and palm pads are not covered by the warranty Caution The warranty will become null and void if the Unit has been tampered with re...

Страница 124: ...124 11 Contact www robotiq 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 extension 207 Sales US extension...

Страница 125: ...Robotiq 3 Finger Adaptive Robot Gripper Instruction Manual Robotiq inc 2008 2014 125 EC Declaration of conformity...

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