ROBOTIQ 3-Finger Adaptive Robot Gripper Bedienungsanleitung

Get the latest version of the manual at support.robotiq.com

3-Finger Adaptive Robot GripperInstruction Manual

Table of Contents

Table of Contents 2

Revisions 4

1. General Presentation 6

2. Safety 11

2.1 Warning 12

2.2 Intended Use 13

3. Installation 14

3.1 Scope of delivery 14

3.2 Environmental and operating conditions 14

3.3 Mechanical connections 15

3.4 Power supply specifications 15

3.5 Wiring 16

3.5.1 Power connection 17

3.5.2 Communication connection 18

3.6 Installation for Universal Robots 25

3.6.1 Communication 25

3.6.2 Configuring the IPaddress of the Gripper 25

3.6.3 Configuring the URcontroller network 26

3.6.4 URCaps Package 26

3.6.5 Setting the Gripper's IPaddress in the URcontroller 28

3.7 License Agreement 29

4. Control 31

4.1 Overview 31

4.2 Status LEDs 32

4.2.1 Supply LED 32

4.2.2 Communication LED 32

4.2.3 Fault LED 33

4.3 Gripper register mapping 33

4.4 Robot output registers & functionalities 34

4.5 Robot input registers & status 38

4.6 Control logic - example 42

4.7 MODBUS RTU communication protocol 43

4.7.1 Connection setup 43

4.7.2 Read holding registers (FC03) 43

4.7.3 Preset single register (FC06) 44

4.7.4 Preset multiple registers (FC16) 45

4.7.5 Master read&write multiple registers (FC23) 45

4.7.6 Modbus RTU example 46

4.8 MODBUS TCP communication protocol 52

4.8.1 Connection Setup 52

4.8.2 Read Input Registers (FC04) 53

4.8.3 Preset Multiple Registers (FC16) 54

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3-Finger Adaptive Robot GripperInstruction Manual

4.8.4 Modbus TCP example 54

4.8.5 Application with Universal Robots 61

4.9 Control over Universal Robots with URCaps 63

4.9.1 3F Gripper Activate node 63

4.9.2 3F Gripper Move node 63

Features 64

4.9.3 3F Object Detected node 64

4.9.4 Script functions 65

4.10 Control over ROS 66

5. User Interface 67

6. Specifications 68

6.1 Technical dimensions 68

6.2 Mechanical specifications 69

6.3 Design and customization 72

6.3.1 Finger pad replacement and customization 72

6.3.2 Palm pad replacement and customization 74

6.3.3 Fingertip replacement and customization 76

6.4 Moment of inertia and center of mass 78

6.5 Electrical ratings 79

6.6 Couplings 80

6.6.1 Blank coupling 80

6.6.2 Yaskawa SDA-5D_10D coupling 81

6.6.3 Dimensions for custom coupling 82

7. Maintenance 83

7.1 Gripper Cleaning 84

7.2 Applying Grease 85

7.3 Periodic Inspection 86

7.4 Finger Pad Replacement 87

7.5 Gripper Palm Replacement 88

7.6 Fingertip Replacement 89

7.7 Gear replacement 90

7.8 Overhaul 91

8. Spare Parts, Kits and Accessories 92

9. Troubleshooting 95

10. Warranty 97

11. Contact 98

ECDeclaration of Conformity 99

©Robotiq inc. 2008-2018 3

3-Finger Adaptive Robot GripperInstruction Manual

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such

modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at support.robotiq.com.

Revision 271118

Section added:Control over ROSsubsection

Revision 180116

Section added: Installation for Universal Robots subsection

Section added: URCaps Package subsection

Section added: Setting the Gripper's IPaddress in the URcontroller subsection

Section added: License Agreement subsection

Section added: Control over Universal Robots with URCaps subsection

Revision 140613

Update for Robotiq Adaptive Gripper S-7

Revision 130607

Annex added : EC incorporation

Section added : Maintenance subsection

Section added : Spare parts, Kits and Accessories

Section added : Design and customization

Revision 130206

Section added : Troubleshooting

Section added : Communication with UR robots

Minor modifications

Revision 121031

Update for Robotiq Adaptive Gripper S-6

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

Revision 110515

Manual release

This manual, and the product it describes, are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and

therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying

includes translation into another language or format.

Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use.

There may be some differences between the manual and the product if the product has been modified after the edition date.

The information contained in this document is subject to change without notice.

©Robotiq inc. 2008-2018 4

3-Finger Adaptive Robot GripperInstruction Manual

This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and

therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying

includes translation into another language or format.

Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use.

There may be some differences between the manual and the product if the product has been modified after the edition date.

The information contained in this document is subject to change without notice.

©Robotiq inc. 2008-2018 5

3-Finger Adaptive Robot GripperInstruction Manual

1. 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. Its design makes it a unique robotic end-of-arm tool to pick, place and handle a large range and volume of parts of varying

sizes andshapes.

Note

The following manual uses the metric system, unless specified, all dimensions are in millimeters.

Note

The following 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 guidelines must be read and understood before any operation is attempted with

theGripper.

The Adaptive Gripper has three articulated fingers, i.e. Finger A in front of Finger B and Finger C, that each have three joints (three phalanxes per

finger), as shown in Figure 1.1. The Gripper can engage up to ten points of contact with an object (three on each of the phalanges plus the palm). The

fingers are under-actuated, meaning they have fewer motors than the total number of joints. This configuration allows the fingers to automatically adapt

to the shape of object they grip and it also simplifies the control of the Gripper.

Figure 1.1 : The Robotiq 3-Finger Adaptive Robot Gripper.

©Robotiq inc. 2008-2018 6

3-Finger Adaptive Robot GripperInstruction Manual

Two different types of movements can be performed with the Gripper. The first determines the type of grip being used and simultaneously changes the

orientation of Fingers B and C as shown in Figure 1.2. This movement is referred to as the 'Operation Mode'. The Operation Mode is determined by the

user prior to the grip as a function of the size or shape of the object being gripped and for the task that has to be done.

Figure 1.2 : First type of movement for the 3-Finger Adaptive Robot Gripper: changing the Operation Mode.

Operation Modes:

1. The basic mode is the most versatile Operation Mode. It is best suited for objects that have one dimension longer than the other two. It can grip a

large variety of objects.

2. The wide mode is optimal for gripping round or large objects.

3. The pinch mode is used for small objects that have to be picked precisely. This Operation Mode can only grip objects between the distal

phalanxes of the fingers.

4. The scissor mode is used primarily for tiny objects. This mode is less powerful than the other three modes, but is precise. In scissor mode, it is not

possible to surround an object. Here, Fingers B and C move laterally towards each other while Finger A remains still.

©Robotiq inc. 2008-2018 7

3-Finger Adaptive Robot GripperInstruction Manual

The four pre-set Operation Modes can be chosen by the user (see Figure 1.3).

Figure 1.3 : The four Operation Modes of the 3-Finger Adaptive Robot Gripper.

The second movement of the Gripper is the closing and opening 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 stable configuration, on an object or against

the 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.

©Robotiq inc. 2008-2018 8

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.

lThe 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. In this situation, the stability of the grip is maintained because of the friction between the fingers and the object.

lThe Encompassing Grip is when the fingers surround an object. The object is encompassed within the fingers and the stability of the grip is no

longer related to friction. We suggest 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.

Caution

It is important to note that a parallel grip can only be performed when the fingers touch the object with the distal phalanxes first. Inversely, for an

encompassing grip, the fingers must touch theobject with the proximal or the lower section of the distal phalanxes first. Also, to ensure stability,

the object should be held against the Gripper palm when performing an encompassing grip.

Note that the Encompassing Grip cannot occur in all Operation Modes. For example, in Pinch and Scissor modes, it is only possible to do Fingertip

Gripping. On the other hand, the Fingertip Grip can occur in all four Operation Modes. Figure 1.6 summarizes the Types of Grip possible for each

Operation Mode.

Info

Operation Modes are inputs to the Gripper. Whether the fingers close to produce an Encompassing or Fingertip grip is decided at

the Gripper level automatically. It will depend on:

lThe Operation Mode;

lThe part's geometry;

lThe relative position of the part with respect to the Gripper.

In other words, picking the same part using the same Operation Mode could result in either an Encompassing or Fingertip Grip based on a part's

position and geometry.

©Robotiq inc. 2008-2018 9

3-Finger Adaptive Robot GripperInstruction Manual

Figure 1.6 : Operation Modes vs. Types of Grip.

©Robotiq inc. 2008-2018 10

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