ROBOTIQ 3-Finger Adaptive Robot Gripper Instruction Manual
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ROBOTIQ 3-Finger Adaptive Robot Gripper Instruction Manual

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Summary of Contents for ROBOTIQ 3-Finger Adaptive Robot Gripper

  • Page 1 Get the latest version of the manual at support.robotiq.com...

  • Page 2: Table Of Contents

    3-Finger Adaptive Robot Gripper Instruction Manual Table of Contents Table of Contents Revisions 1. General Presentation 2. Safety 2.1 Warning 2.2 Intended Use 3. Installation 3.1 Scope of delivery 3.2 Environmental and operating conditions 3.3 Mechanical connections 3.4 Power supply specifications 3.5 Wiring...
  • Page 3 3-Finger Adaptive Robot Gripper Instruction Manual 4.8.4 Modbus TCP example 4.8.5 Application with Universal Robots 4.9 Control over Universal Robots with URCaps 4.9.1 3F Gripper Activate node 4.9.2 3F Gripper Move node Features 4.9.3 3F Object Detected node 4.9.4 Script functions 4.10 Control over ROS...

  • Page 4: Revisions

    This manual, and the product it describes, are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying includes translation into another language or format.
  • Page 5 This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying includes translation into another language or format.

  • Page 6: General Presentation

    The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper" , "S-Model", "3-Finger Gripper" and "Robotiq Adaptive Gripper" used in the following manual all refer to the Robotiq 3-Finger Adaptive Robot Gripper. The Robotiq 3-Finger Adaptive Robot Gripper is a robotic peripheral that is designed for industrial applications.
  • Page 7 Figure 1.2 : First type of movement for the 3-Finger Adaptive Robot Gripper: changing the Operation Mode.
  • Page 8 Gripper palm. Note that a user can specify the relative speed at which the fingers will close and the relative force that will be applied to an object. Figure 1.4 : Second movement of the 3-Finger Adaptive Robot Gripper: closing and opening the fingers.
  • Page 9 3-Finger Adaptive Robot Gripper Instruction Manual Two types of grips occur when closing the 3-Finger Adaptive Robot Gripper on an object: Fingertip Grip or Encompassing Grip. The Fingertip Grip is when an object is only held by the distal phalanxes. This type of grip is similar to what is done with conventional industrial parallel grippers.
  • Page 10 3-Finger Adaptive Robot Gripper Instruction Manual Figure 1.6 : Operation Modes vs. Types of Grip. ©Robotiq inc. 2008-2018...

  • Page 11: Safety

    2. Safety Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq 3- Finger Adaptive Robot Gripper. The term "operator" refers to anyone responsible for any of the following operations on the 3-Finger Adaptive Robot Gripper:...

  • Page 12: Warning

    3-Finger Adaptive Robot Gripper Instruction Manual 2.1 Warning 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.

  • Page 13: Intended Use

    Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety. The unit may be used only within the range of its technical data. 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.

  • Page 14: Installation

    Grease syringe ACC-LUB-SHC1500 for maintenance. Note The following are not included with the delivery of the 3-Finger Adaptive Robot Gripper unless specified: Hardware required for any of the communication options, accessories, faceplates or fixtures. Power supply unit, power supply wiring or fuse.

  • Page 15: Mechanical Connections

    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 modify a blank coupling model or Robotiq can create a custom version based on blanks in section 6.6 for you or you can build one based on the dimensions in section 6.6.1.1.

  • Page 16: Wiring

    Always respect the ripple and output regulation tolerances on the output voltage, exceeding these limits could damage the Gripper. If your power supply can exceed the specified regulation, overvoltage protection is required. Robotiq recommends the use of the following power supply : TDK-Lambda DPP100 Series, 15-100W Single Output DIN Rail Mount Power Supply, DDP100-24-1 3.5 Wiring...

  • Page 17: Power Connection

    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 provided by Robotiq and the user is responsible for proper installation. The pin-out of the power connectors is detailed in Figure 3.5.1.2.

  • Page 18: Communication Connection

    Be sure to use the appropriate cables and pin-outs for your communication protocol as any other setup may damage the Gripper. DeviceNet communication protocol Figure 3.5.2.1 shows the pin-out for the DeviceNet communication protocol for the receptacle (male) present on the 3-Finger Adaptive Robot Gripper and the cable (female) provided with your Gripper.
  • Page 19 3-Finger Adaptive Robot Gripper Instruction Manual Figure 3.5.2.1 : DeviceNet communication pinout. The DeviceNet communication and the 3-Finger Gripper use a 24 V supply. Robotiq suggests separating the power supplies as shown in Figure 3.5.2.2. Caution There is no terminating resistor mounted in the Gripper.
  • Page 20 Cons. Data Length CANopen communication protocol Figure 3.5.2.3 shows the pin-out for the CANopen communication protocol for the receptacle (male) present on the 3-Finger Adaptive Robot Gripper and the cable (female) provided with your Gripper. Figure 3.5.2.3 : CANopen communication pinout.
  • Page 21 Real-time Ethernet communication protocol Real-time Ethernet communication includes Ethernet/IP, EtherCAT, PROFINET and Modbus TCP/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.
  • Page 22 3-Finger Adaptive Robot Gripper Instruction Manual Figure 3.5.2.5 : Real-time Ethernet communication pin-out. The 3-Finger Adaptive Robot Gripper features an auto-crossover, so there is no need to cross the RX/TX signals. Factory settings for each Ethernet protocols: IDENTIFICATION SETTINGS EtherCAT EtherNet/IP PROFINET...
  • Page 23 3-Finger Adaptive Robot Gripper Instruction Manual BUS SETTINGS Full Duplex Enabled Full Duplex always on Auto-neg Enabled Auto-neg always on Assembly Instance (input) Assembly Instance (output) Configurati on Instance Connection Run/Idle Type Header DATA SETTINGS EtherCAT EtherNet/IP PROFINET Modbus TCP/IP INput Data Bytes Prod.
  • Page 24 3-Finger Adaptive Robot Gripper Instruction Manual Figure 3.5.2.6 : Serial communication pin-out for RS485. The RS485 communication can be converted to RS232 with an optional converter, see Figure 3.5.2.7 for schematics of the wiring. The converter is available in the Spare Parts, Kits and Accessories section. Note that the RS-232 converter ends with a female DB-9 plug for PC.

  • Page 25: Installation For Universal Robots

    The 3-Finger Adaptive Robot Gripper uses the Modbus TCP communication protocol to communicate with the Universal Robots controller. Info If intended to be installed on Universal Robots, the 3-Finger Adaptive Robot Gripper must be ordered with the Modbus TCP communication protocol.

  • Page 26: Configuring The Ur Controller Network

    Robotiq provides you with a Universal Robots URCaps package that enables Modbus TCP communication to your UR controller. Info To get the URCaps package for your UR controller, visit support.robotiq.com. Make sure the 3-Finger Adaptive Robot Gripper is properly mounted to the robot arm. Refer to section 3.3 Mechanical connections for detailed information on the mechanical installation of the Gripper.
  • Page 27 3-Finger Adaptive Robot Gripper Instruction Manual 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 support.robotiq.com and click on the 3-Finger Adaptive Robot Gripper product page.

  • Page 28: Setting The Gripper's Ip Address In The Ur Controller

    3-Finger Adaptive Robot Gripper Instruction Manual Restart PolyScope to complete 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). 3.6.5 Setting the Gripper's IP address in the UR controller The 3-Finger Gripper URCap comprises a setting screen in the Installation tab of PolyScope.

  • Page 29: License Agreement

    Software, which Software shall be used in accordance with such documentation. This documentation, if applicable, will be provided, wholly or in part, within (i) this Agreement, (ii) the Licensor’s Web site http://robotiq.com/ (iii) the Licensor’s Products and the Purchase Agreement therewith, or (iv) any other agreement, document, support, whatsoever decided by the Licensor.
  • Page 30 3-Finger Adaptive Robot Gripper Instruction Manual MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE RESULTS OF THE USE OF THE Software IN TERMS OF ITS CORRECTNESS, ACCURACY, RELIABILITY, OR OTHERWISE. NO ORAL OR WRITTEN INFORMATION OR ADVICE GIVEN BY LICENSOR AND LICENSOR’S AUTHORIZED REPRESENTATIVE SHALL CREATE A WARRANTY OR IN ANY WAY INCREASE THE SCOPE OF THIS WARRANTY.

  • Page 31: Control

    DeviceNet, CANopen, EtherCat, etc.). The programming of the Gripper can be done with the Teach Pendant of the robot or by offline programming. Since the Robotiq 3-Finger Gripper has its own internal controller, high-level commands such as "Go to requested position" are used to control it. The embedded Robotiq controller takes care of the regulation of the speed and the force prescribed, while the mechanical design of the fingers automatically adapts to the shape of object(s).

  • Page 32: Status Leds

    4.2 Status LEDs Three status LED lights provide general information about the 3-Finger Adaptive Robot Gripper status. Figure 4.2.1shows the LEDs and their locations. Figure 4.2.1 : Status LEDs.

  • Page 33: Fault Led

    3-Finger Adaptive Robot Gripper Instruction Manual COLOR STATE INFORMATION Green Gripper is not supplied with power Green Blinking The Gripper is correctly supplied and the control board is running Green A network has been detected and at least one connection is in the established state 4.2.3 Fault LED...

  • Page 34: Robot Output Registers & Functionalities

    3-Finger Adaptive Robot Gripper Instruction Manual REGISTER ROBOT OUTPUT/FUNCTIONALITIES ROBOT INPUT/STATUS Byte 7 FINGER B POSITION Byte 8 FINGER B CURRENT Byte 9 NOT USED IN SIMPLE MODE Bye 10 FINGER C POSITION Byte 11 FINGER C CURRENT Byte 12 NOT USED IN SIMPLE MODE...
  • Page 35 3-Finger Adaptive Robot Gripper Instruction Manual Caution rACT bit must remain on afterwards for any other action to be performed. rMOD: Changes the Gripper Grasping Mode. When the Grasping Mode is changed, the Gripper first opens completely to avoid interference between the fingers, then goes to the selected mode.
  • Page 36 3-Finger Adaptive Robot Gripper Instruction Manual Register: POSITION REQUEST (FINGER A IN INDIVIDUAL MODE) Address: Byte 3 Bits Symbols rPRA This register is used to set the target position of the fingers for the Adaptive Gripper (or Finger A only if bit rICF is set). The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops.
  • Page 37 3-Finger Adaptive Robot Gripper Instruction Manual Info 0x00 speed does not mean absolute zero speed. It is the minimum speed of the Gripper. Minimum speed: 22 mm/s Maximum speed: 110 mm/s Speed / count: 0.34 mm/s Register: FORCE (FINGER A IN INDIVIDUAL MODE)

  • Page 38: Robot Input Registers & Status

    3-Finger Adaptive Robot Gripper Instruction Manual This register is used to set the Finger C target position. It is only applied if the Individual Control of Finger option is selected (bit rICF is set). Please refer to rPRA (position request) register for more information.
  • Page 39 3-Finger Adaptive Robot Gripper Instruction Manual 0x0 - Gripper reset. 0x1 - Gripper activation. gMOD: Operation Mode status, echo of the rMOD bits (grasping mode requested). 0x00 - Basic mode. 0x01 - Pinch mode. 0x02 - Wide mode. 0x03 - Scissor mode.
  • Page 40 Warning Resetting the contact detection repeatedly at high frequency using the rGTO bit may cause a major failure of the Gripper. This is not considered normal usage of the Gripper and it is not recommended by Robotiq. Caution The object detection is precise only to the order of a few mm. In some circumstances object detection may not detect an object even if it is successfully grasped.
  • Page 41 3-Finger Adaptive Robot Gripper Instruction Manual Register: FINGER A CURRENT) Address: Byte 5 Bits Symbols gCUA gCUA: Returns a value that represents the Finger A with instantaneous current consumption from 0x00 to 0xFF. Info Current consumption is approximately equal to 0.1 * gCUA (in mA).

  • Page 42: Control Logic - Example

    Returns a value that represents the scissor action with instantaneous current consumption from 0x00 to 0xFF. 4.6 Control 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 communication protocol examples.

  • Page 43: Modbus Rtu Communication Protocol

    0x07D0 (2000) Each register (word - 16 bits) of the Modbus RTU protocol is composed of 2 registers (bytes – 8 bits) from the Robotiq 3-Finger Gripper. The first Gripper output Modbus register (0x07D0) is composed from the first 2 Robotiq 3-Finger Adaptive Robot Gripper registers (byte 0 and byte 1).

  • Page 44: Preset Single Register (Fc06)

    3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION SlaveID 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 an echo: 09 03 04 E0 00 00 00 44 33...

  • Page 45: Preset Multiple Registers (Fc16)

    3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 03E8 Address of the register 0100 Written Value 0962 Cyclic Redundancy Check (CRC) 4.7.4 Preset multiple registers (FC16) Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are Action Request, Speed, Force, etc.

  • Page 46: Modbus Rtu Example

    3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION SlaveID 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 written register 0002 Number of registers to write (3) to...
  • Page 47 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 0100 Value written to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper" 0000 Value written to register 0x03E9 0000 Value written to register 0x03EA...
  • Page 48 3-Finger Adaptive Robot Gripper Instruction Manual 09 03 02 31 00 4C 15 where BITS DESCRIPTION SlaveID Function Code 03 (Read Holding Registers) Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes) 3100 Content of register 07D0 (GRIPPER STATUS = 0x31, OBJECT STATUS = 0x00): gACT = 1 for "Gripper Activation", gIMC = 3 for...
  • Page 49 3-Finger Adaptive Robot Gripper Instruction Manual Step 5: Read Gripper status until the grip is completed Request is: 09 03 07 D0 00 08 45 C9 where BITS DESCRIPTION SlaveID Function Code 03 (Read Holding Registers) 07D0 Address of the first requested register...
  • Page 50 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION Function Code 03 (Read Holding Registers) Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes) B9EA Content of register 0x07D0 (GRIPPER STATUS = 0xB9, OBJECT STATUS = 0xEA): gSTA = 2 for "Gripper is stopped. All fingers stopped before requested position", gDTA = gDTB = gDTC = 2...
  • Page 51 3-Finger Adaptive Robot Gripper Instruction Manual 09 10 03 E8 00 03 01 30 where BITS DESCRIPTION SlaveID Function Code 16 (Preset Multiple Registers) 03E8 Address of the first register 0003 Number of written registers 0130 Cyclic Redundancy Check (CRC) Step 8: Read gripper status until the opening is completed...

  • Page 52: Modbus Tcp Communication Protocol

    4.8 MODBUS TCP communication protocol The Robotiq 3-Finger Gripper can be controlled using the Modbus TCP protocol. This section is intended to provide guidelines for setting up a Modbus TCP communication link to adequately send commands to and read inputs from the Gripper.

  • Page 53: Read Input Registers (Fc04)

    0x0000 (0000) Each register (word - 16 bits) of the Modbus TCP protocol is composed of 2 registers (bytes – 8 bits) from the Robotiq 3-Finger Gripper. The first Gripper output Modbus register (0x0000) is composed from the first 2 Robotiq 3-Finger Adaptive Robot Gripper registers (byte 0 and byte 1).

  • Page 54: Preset Multiple Registers (Fc16)

    3-Finger Adaptive Robot Gripper Instruction Manual 4.8.3 Preset Multiple Registers (FC16) Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are Action Request, Position Request, Speed, Force, etc. Ex: This message requests to set several options for the Gripper by setting registers from 0x0000 (0000) to 0x0003.
  • Page 55 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 339A Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 000D Length SlaveID Function 16 (Preset Multiple Registers) 0000 Address of the first register 0003 The number of registers to write to Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
  • Page 56 3-Finger Adaptive Robot Gripper Instruction Manual 45 33 00 00 00 05 02 04 02 11 00 where BITS DESCRIPTION 4533 Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0005 Length SlaveID Function 04 (Read Input Registers) Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
  • Page 57 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 0003 Number of registers to write to 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 Gripper", rMOD=0 for "Go to Basic Mode"...
  • Page 58 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 776B Unique transaction identifier (chosen randomly) 0000 Protocol Identifier (Modbus) 0013 Length SlaveID Function Code 04 (Read Input Registers) Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
  • Page 59 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 0000 Content of register 0x07D4 (FINGER B CURRENT = 0x00, FINGER C POSITION REQUEST ECHO = 0x00) BD00 Content of register 0x07D5 (FINGER C POSITION = 0xBD, FINGER C CURRENT = 0x00) 0089...
  • Page 60 3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 03E8 Address of the first register 0003 Number of written registers Step 8: Read Gripper status until the opening is completed Request is: D6 05 00 00 00 06 02 04 07 D0 00 08...

  • Page 61: Application With Universal Robots

    3-Finger Adaptive Robot Gripper Instruction Manual BITS DESCRIPTION 0x00, SCISSOR POSITION = 0x89) 0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00) Example of response if the opening is completed: D6 05 00 00 00 0D 02 04 10 F9 FF 00 00 07 00 00 06 00 00 06 00 00 89 00 00...
  • Page 62 3-Finger Adaptive Robot Gripper Instruction Manual Writing and reading other registers will be based on similar computations. Also, please note that theread/write registers are not the same. As an example, writing to REGISTER0 will send a command to the Gripper, whereas reading REGISTER0 will give you the status of the Gripper.

  • Page 63: Control Over Universal Robots With Urcaps

    4.9.1 3F Gripper Activate node This node commands the activation sequence of the 3-Finger Adaptive Robot Gripper. If the user selects the Reset and activate radio button, the Gripper will initiate the activation sequence everytime the command is executed. If the user selects the Activate only radio button, the activation sequence will be executed only if the Gripper is not already activated.

  • Page 64: Features

    3-Finger Adaptive Robot Gripper Instruction Manual Features Feature Description User input Position Gripper position requested Integer value from 0 to 255 0 = Open 255 = Close Speed Gripper speed requested Integer value from 0 to 255 0 = minimum 255 = maximum...

  • Page 65: Script Functions

    3-Finger Adaptive Robot Gripper Instruction Manual The 3F Object Detected node is prepackaged in an If statement. Selecting the Detected radio button will affect the node's name in the program tree and perform the actions following said node if an object is detected in the Gripper.

  • Page 66: Control Over Ros

    3-Finger Adaptive Robot Gripper Instruction Manual 4.10 Control over ROS The Robotiq 3-Finger Adaptive Gripper is supported on ROS Kinetic. Please visit our ROS wiki page to learn more. The package stack (also including support for the other Adaptive Grippers as well as the FT 300 Force Torque Sensor), can be downloaded via Robotiq's Github repository, provided by ros-industrial.

  • Page 67: User Interface

    3-Finger Adaptive Robot Gripper Instruction Manual 5. User Interface Visit support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. See the Robotiq User Interface Instruction Manualfor details on usage of the Robotiq User Interface. ©Robotiq inc. 2008-2018...

  • Page 68: Specifications

    3-Finger Adaptive Robot Gripper Instruction Manual 6. Specifications 6.1 Technical dimensions Figure 6.1.1 : Robotiq 3-Finger Adaptive Robot Gripper technical dimensions. ©Robotiq inc. 2008-2018...

  • Page 69: Mechanical Specifications

    3-Finger Adaptive Robot Gripper Instruction Manual 6.2 Mechanical specifications Specification Imperial Units Metric Units Gripper Opening (see Pad design and customization section) 0-6.6 in [0-167 mm] Maximum encompassing diameter 6.1 in [155 mm] Gripper Approximate Weight 5 lbs [2.3 kg] Recommended Payload (Encompassing Grip)
  • Page 70 3-Finger Adaptive Robot Gripper Instruction Manual Figure 6.2.2 : Actuation and Holding Forces available in a single finger. Info The "Actuation Force" is the force that can be applied to an object by the motors of the Gripper while the "Break Away Force" is the force that the Gripper can sustain.
  • Page 71 3-Finger Adaptive Robot Gripper Instruction Manual 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 Force. When doing a Fingertip Grip, the weight that can be lifted is defined by: Where F is the force that is applied to the load by the Gripper.

  • Page 72: Design And Customization

    6.3.1 Finger pad replacement and customization 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 are fixed to the Gripper Finger as shown in figure 6.3.1.1. For a list of available parts, see section 8.
  • Page 73 See figure 6.3.1.2 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. Figure 6.3.1.2 : Bolt pattern of the Proximal and Median Pads of the 3-Finger Adaptive Robot Gripper...

  • Page 74: Palm Pad Replacement And Customization

    6.3.2 Palm pad replacement and customization The Robotiq 3-Finger Adaptive Robot Gripper Palm Pad is a usable part meant for frequent change (maximum 1 Mio. cycles) that can be customized. The Palm Pad S-071 is fixed to the Gripper as shown in figure 6.3.2.1. For a list of available parts see section 8. Spare Parts, Kits and accessories.
  • Page 75 See figure 6.3.2.2 for the Palm Pad thread pattern for custom design. Caution Custom pads must be fixed with the illustrated thread pattern, never modify the Gripper without Robotiq's consent first. Figure 6.3.2.2 : Bolt pattern of the Palm Pad for the 3-Finger Adaptive Robot Gripper.

  • Page 76: Fingertip Replacement And Customization

    6.3.3 Fingertip replacement and customization The Robotiq 3-Finger Adaptive Robot Gripper Fingertip is a usable part meant for frequent change (maximum 1 Mio. cycles) that can be customized. The Fingertip S-016 is fixed to the Gripper Finger as shown in figure 6.3.3.1. For a list of available parts see section 8. Spare Parts, Kits and accessories.
  • Page 77 Custom fingertips must be fixed with the thread pattern illustrated (a minimum of two SHCS are required), never modify the Gripper without Robotiq's consent first. Figure 6.3.3.2 : Bolt pattern of the Fingertip for the 3-Finger Adaptive Robot Gripper Fingers. ©Robotiq inc. 2008-2018...

  • Page 78: Moment Of Inertia And Center Of Mass

    3-Finger Adaptive Robot Gripper Instruction Manual 6.4 Moment of inertia and center of mass The coordinate system used for calculating the moment of inertia and center of mass for the 3-Finger Adaptive Gripper is shown in Figure 6.1.1. This represents a configuration where the fingers are fully open in Wide Mode.

  • Page 79: Electrical Ratings

    3-Finger Adaptive Robot Gripper Instruction Manual 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 gripping force) 36 W Maximum RMS Supply Current (supply voltage at 24V) 1.5 A...

  • Page 80: Couplings

    6.6.1 Blank coupling The 3-Finger Adaptive Robot Gripper blank coupling 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 shown in figure 6.6.1.1 is meant to be on the wrist side while bottom face is meant to be on the robot side.

  • Page 81: Yaskawa Sda-5D_10D Coupling

    6.6.2 Yaskawa SDA-5D_10D coupling The 3-Finger Adaptive Robot Gripper Yaskawa coupling is meant 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 shown in figure 6.6.2.1 is meant to be on the wrist side while bottom face is meant to be on the robot side.

  • Page 82: Dimensions For Custom Coupling

    Figure 6.6.3.1 shown below describes the standard wrist present on all 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 Gripper must be secured with all six (6) of the # 6-32 UNC screws. Use the 3/16 Dowel pin for indexing, pin must be press fit in the custom coupling, it is slip fit on the Gripper Universal Wrist side.

  • Page 83: Maintenance

    7. Maintenance The Adaptive Gripper requires only external maintenance with limited downtime. Maintenance of the 3-Finger Adaptive Robot Gripper is required after specified usage, measured in time (normal 40h week) or in cycles (requesting an open and close movement from the Gripper). Following the maintenance interval will ensure: Correct functioning of your Gripper.

  • Page 84: Gripper Cleaning

    Weekly or daily in dirty operating conditions None Dry tissue or towel Info The Robotiq 3-Finger Adaptive Robot Gripper is not waterproof, clean the Gripper with a dry towel. Caution Always turn off robot and Gripper power supply before doing maintenance operations on the Gripper. Procedure 1.

  • Page 85: Applying Grease

    Always turn off robot and Gripper power supply before doing maintenance operations on theGripper. 1. Fully close 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).

  • Page 86: Periodic Inspection

    Check for any collision damage, if damage is visible, contact Robotiq Support. d. Check for any sign of wear on the Gripper chassis, if wear is present and may affect Gripper performance, contact Robotiq Support. 4. Put the Gripper back in place, make sure to maintain the initial orientation of your Gripper.

  • Page 87: Finger Pad Replacement

    Twelve (12) 4-40 X 1/4 Flat Head Machine Screws (Philips, zinc coated). See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts. Note Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper.

  • Page 88: Gripper Palm Replacement

    Screws (Philips, zinc coated). Philips screwdriver. Low strength thread-locker (Loctite 220) See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts. Note Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper.

  • Page 89: Fingertip Replacement

    9/64 hex (Allen) key. Medium strength thread-locker (Loctite 248). See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts. Caution Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper.

  • Page 90: Gear Replacement

    Note Always turn off robot and Gripper power supply before performing maintenance operations on the Gripper. Warning Always wear protective glasses when doing maintenance work on the 3-Finger Adaptive Robot Gripper, especially when manipulating snap rings. Procedure 1. Remove the Gripper from the robot following schematics in section 3.3 Mechanical connections.

  • Page 91: Overhaul

    Parts you need None None 2 M cycles, 1 year or at warranty expiration Gripper overhaul is necessary when the Gripper reaches 2 M cycles or at warranty expiration. Overhaul is done by Robotiq, please contact Robotiq Support Service. ©Robotiq inc. 2008-2018...

  • Page 92: Spare Parts, Kits And Accessories

    The following list is up to date at print time and is subject to change, check online for updates. Item Description Ordering Number Standard Gripper 3-Finger Adaptive Robot Gripper with black silicone AGS-001-XXXX finger pads, right angle 5m communication cable, right angle 5 m power cable, USB configuration cable.
  • Page 93 Female DB9. Meant for use with CANopen. Ethernet cable 5 m Real-Time Ethernet communication cable for CBL-COM-2055 3-Finger Adaptive Robot Gripper, right angle, M12 4-pins male RJ45. Meant for use with EtherNet/IP, EtherCAT, Modbus TCP and PROFINET. USB cable 5 m USB 2.0 cable, USB A - A male.
  • Page 94 3-Finger Adaptive Robot Gripper Instruction Manual Item Description Ordering Number one (1) Median Pad S-014, 6061 aluminium body with black silicone cover. four (4) 4-40 X 1/4 Flat Head Machine Screws (Philips, zinc coated) Palm Pad includes : AGS-PAD-S071 one (1) Palm Pad S-071, 6061 aluminium body with black silicone cover.

  • Page 95: Troubleshooting

    3-Finger Adaptive Robot Gripper Instruction Manual 9. Troubleshooting If your Gripper is not working, check the following: 1. Check the blue LED on the Gripper: a. It's ON: Check communication (step 2) b. It's OFF: Gripper not supplied, check power supply cable integrity and check power supply (see specification in section 3.3), 2.
  • Page 96 A: Default settings for EtherNet / IP and Modbus TCP/IP use fixed addresses, you must: 1. Check Gripper address using the Robotiq User Interface via USB. Communication protocol panel will show current address, default IP address for Robotiq Grippers are IP 192.168.1.11 with Gateway 255.255.255.0.

  • Page 97: Warranty

    In no event shall Robotiq be liable for special, incidental, or consequential damages. Robotiq shall not be liable for damages resulting from the use of the product, nor shall be responsible for any failure in the performance of other items to which the product is connected or the operation of any system of which the product may be a part.

  • Page 98: Contact

    3-Finger Adaptive Robot Gripper Instruction Manual 11. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside US and Canada 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 Where automation Pros come to share their know-how and get answers.

  • Page 99: Ec Declaration Of Conformity

    3-Finger Adaptive Robot Gripper Instruction Manual EC Declaration of Conformity ©Robotiq inc. 2008-2018...

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