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2F-140
User Manual
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User Manual
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Robotiq 2F-140, 2F-85 User Manual

Robotiq 2F-85 & 2F-140 for TM Robots
Original Notice
© 2018 Robotic Inc.
Instruction Manual
robotiq.com | leanrobotics.org
Revisions 5
1. General Presentation 7
1.1. Gripper nomenclature 8
1.2. 2F-85 vs. 2F-140 9
2. Safety 14
2.1.1. Risk assessment and final application: 15
3. Installation 17
2
3.1.1. TM Kit 18
3.4.1. Installing fingers on the Gripper 19
3.4.2. Installing the fingertips on the Gripper 21
3.4.3. Installing a Protector Kit on the Gripper Fingers 22
3.4.4. Installing the Gripper onto the robot 22
Single Gripper 22
Multiple Grippers 23
3.5.1. Pinout Interface 26
3.5.2. Coupling to controller 26
Single Gripper 28
Multiple Grippers 28
4. Control 30
2F-85 &2F-140 - Instruction Manual
3
4.5. Picking Features 39
4.5.1. Force control 39
4.5.2. Re-Grasp 44
4.5.3. Object detection 45
4.6. Control Logic 46
4.7. Modbus RTUCommunication 47
4.7.1. Connection Setup 48
4.7.2. Read holding registers (FC03) 49
4.7.3. Read input registers (FC04) 50
4.7.4. Preset multiple registers (FC16) 51
4.7.5. Master read & write multiple registers FC23 52
4.7.6. Modbus RTU example 54
4.8. Control over TM 63
4.8.1. TMRobots Compatibility with Robotiq Grippers 63
4.8.2. Getting Started 63
4.8.3. TMGripper Components 67
Installation 67
Gripper Button 74
Programming 76
SETComponent 76
GRIPComponent 78
RELEASEComponent 79
CHANGEGRIPPERComponent 81
Changing the ModbusSlave ID 83
5. User Interface 85
6. Specifications 86
6.1. Technical dimensions 87
6.1.1. Couplings 91
Blank coupling 91
Coupling for ISO 9409-1-50-4-M6 92
Coupling for ISO 9409-1-31.5-4-M5 93
Coupling for ISO 9409-1-40-4-M6 94
Coupling for PCD 56 with 8 x M4 95
2F-85 &2F-140 - Instruction Manual
Coupling for PCD 56 with 6 x M4 96
Coupling for PCD 60 with 4 x M5 97
Coupling for PCD 63 with 6 x M6 98
6.1.2. Fingertips 99
Flat silicone fingertip 100
Grooved fingertip 101
6.2. Mechanical specifications 102
6.2.1. Payload and force 103
Friction grasp and form-fit grasp 105
Maximum payload by grasp type 105
6.2.2. Equilibrium Line 106
6.2.3. Center of mass, tool centere point and moment of inertia 107
6.2.4. Moment and force limits 109
4
6.3. Electrical specifications 110
7. Maintenance 111
7.1. Gripper cleaning 112
7.2. Periodic inspection 114
7.3. Fingertip replacement 115
7.4. Overhaul 116
8. Spare Parts, Kits and Accessories 117
9. Troubleshooting 120
10. Warranty andPatent 121
11. Contact 124
12. Harmonized Standards, Declarations and Certificates 125
12.1. Translation of original EC declaration of incorporation 125
12.2. Applied standards 126
2F-85 &2F-140 - Instruction Manual
5

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 2019/03/13
Updated mechanical specifications (section 6.2)
Revision 2018/12/06
First Publication of Instruction Manual
2F-85 &2F-140 - Instruction Manual
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Copyright
© 2019 Robotiq Inc. All rights reserved.
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.
2F-85 &2F-140 - Instruction Manual

1. General Presentation

The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "2-Finger 85", "2-Finger 140", "2F-85" and "2F-140" used in the following manual all refer to the Robotiq 2-Finger Adaptive Robot Gripper.The Robotiq 2-Finger Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will change finger opening dimensions, which will be 85 mm (2F-85) or 140mm (2F-140).Both versions use the same base, installation and control will be exactly the same. The 2-Finger Gripper is a robotic peripheral that is designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to quickly pick, place and handle a large range of objects of varying sizes and shapes.
Info
Unless specified, information in this manual applies to both the 85 and the 140 mm version of the 2-Finger Adaptive Robot Gripper.
Info
The following manual uses the metric system, unless specified, all dimensions are in millimeters.
Info
7
The following section presents the key features of the grasp-type gripper and must not be considered as appropriate to the 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grasp-type gripper.
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1.1. Gripper nomenclature

The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in the figure below.The grasp-type gripper can engage up to five points of contact with an object (two 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 the object they grasp and it also simplifies the control of the grasp-type gripper.
Fig. 1-1: Robotiq 2-Finger Adaptive Gripper.
Please refer to the for details on standard and optional parts.
2F-85 &2F-140 - Instruction Manual

1.2. 2F-85 vs. 2F-140

The 2-Finger Gripper comes with either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140) according to the figure below. The chassis will remain the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions. Finger kits are available in the Spare Parts and Accessories section.
Info
Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications) can be found in the Specifications section.
9
Fig. 1-2: The 2-Finger 85 and 140 mm versions.
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1.3. Object picking

The 2-Finger Gripper has a single actuator for opening and closing the fingers, the fingers automatically adapt to the shape of the object manipulated.
Fingers will adopt either a parallel grasp or encompassing grasp as shown in the figure below.
Info
Closing or opening is done via the "Go to requested position" command and is input to the Gripper Whether the fingers close to produce an emcompassing or fingertip grasp is decided at the Gripper level automatically. It will depend on:
l The objects's geometry;
l The relative position of the object with respect to the Gripper.
In other words, picking the same object could result in either an emcompassing or fingertip grasp based on an object's position and geometry.
Fig. 1-3: 2-Finger parallel and encompassing grips.
Info
It is important to note that a fingertip grasp can only be performed when the fingers touch the object with the upper section of the distal phalanxes first. Inversely, for an encompassing grip, the fingers must touch the object 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 while performing an encompassing grip. Refer to the figure below for a visual representation of the parallel and encompassing grasp regions on the distal phalanx of the 2-Finger Gripper.
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The 2-Finger Adaptive Robot Gripper also allows for internal grasping. The fingers can pick hollow objects from the inside by applying pressure with the outside of the fingers. Refer to the figure below for a visual representation and to the Picking Features section for details on the possible position commands of your Gripper.
Fig. 1-4: Finger internal and external grasping.
2F-85 &2F-140 - Instruction Manual
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The Gripper equilibrium line is the grasping region that separates the encompassing grasp from the parallel grip. When grasping an object close enough to the inside (palm) of the Gripper, the encompassing grasp will occur (unless the object size or shape is not adequate) and the fingers will close around theobject.
If grasped above the equilibrium line, the same object will be picked up in a parallel grasp by the fingertips and the fingers will close with a parallel motion. The figure below shows the encompassing grasp region, the equilibrium line, and the parallel grasp region on the2-Finger Adaptive Robot Gripper.
Info
The details of the equilibrium line relation between opening angle and the related position d can be found in the Mechanical specifications section.
Fig. 1-5: Equilibrium line on the 2-Finger, shown with no fingertip pads.
Tip
Grasping an object that could be grasped by an encompassing grasp (a cylinder for example) on the equilibrium line is not recommended, as slight variations on the position will switch the grasp from parallel to encompassing and vice versa. Robot programming should be done so that the grasping mode will be predetermined.
2F-85 &2F-140 - Instruction Manual

1.4. Setup and control

The Gripper is powered and controlled directly via a single Device Cable that carries a 24V DC supply and Modbus RTU communication over RS-485, see Section 3.5 for wiring information and Section 4 for control of the Gripper (various software packages are available for control via various robotcontrollers).
Info
Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU over serial).
Gripper Coupling is required for 2-Finger usage, the Coupling will provide mechanical and electrical connectivity. Please refer to the Mechanical Installation section for installation of the Coupling,to the Specifications section for technical drawings, and to the Spare Parts, Kits and Accessories section for available couplings.
The 2-Finger has an embedded object detection feature using indirect sensing methods. When picking an object via the "go to" command, the Gripper 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. If the object is being dropped, the Gripper will automatically close to keep the object until the ''go to'' command limit is attained. For details on object detection, see Control section.
13
2F-85 &2F-140 - Instruction Manual

2. Safety

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.
Caution
The term "operator" refers to anyone responsible for any of the following operations on the 2-Finger Adaptive Robot Gripper:
l Installation
l Control
l Maintenance
l Inspection
l Calibration
14
l Programming
l Decommissioning
This documentation explains the various components of the 2-Finger and general operations regarding the whole life-cycle of the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative examples and differences may exist between them and the delivered product.
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2.1. Warning

Caution
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
l The Gripper needs to be properly secured before operating the robot.
l Do not install or operate a Gripper that is damaged or lacking parts.
l Never supply the Gripper with an alternative current source.
l Make sure all cord sets are always secured at both ends, at the Gripper and at the robot.
l Always satisfy the recommended keying for electrical connections.
l Be sure no one is in the robot and/or Gripper path before initializing the robot's routine.
l Always satisfy the Gripper payload.
l Set the Gripper pinch force and speed accordingly, based on your application.
l Keep fingers and clothes away from the Gripper while the power is on.
l Do not use the Gripper on people or animals.
l For welding applications, make sure there are no Gripper parts on the ground path of the welding power source.
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.

2.1.1. Risk assessment and final application:

The Robotiq 2-Finger Adaptive Gripper is meant to be used on an industrial robot. The robot, Gripper and any other equipment used in the final application must be evaluated with a risk assessment. It is the robot integrator's duty to ensure that all local safety measures and regulations are respected. Depending on the application, there may be risks that need additional protection/safety measures, for example, the work-piece the Gripper is manipulating may be inherently dangerous to the operator.
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2.2. Intended Use

The Gripper unit is designed for grasping and temporarily securing or holding objects.
Caution
The Gripper is NOT intended for applying force against objects or surfaces.
The product is intended for installation on a robot or other automated machinery and equipment.
Info
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.
2F-85 &2F-140 - Instruction Manual

3. Installation

The following subsections will guide you through the installation and general setup of your Robotiq 2-Finger Adaptive Robot Gripper.
l The Scope of Delivery section
l The Required Tools and Equipment section
l The Environmental and Operating Conditions section
l The Mechanical Installation section
l The Electrical Setup section
Warning
Before installing:
l Read and understand the safety instructions related to the 2-Finger Adaptive Robot Gripper.
l Verify your package according to the Scope of delivery and your order.
17
l Have the required parts, equipment and tools listed in the requirements readily available
Warning
When installing:
l Satisfy the environmental conditions.
l Do not operate the Gripper, or even turn on the power supply, before it is firmly anchored and the danger zone is cleared.
The fingers of the Gripper may move and cause injury or damage.
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3.1. Scope of Delivery

3.1.1. TM Kit

Robotiq 2F-85 Adaptive Gripper Robotiq 2F-140 Adaptive Gripper
l 1x 2F-85 Basic Gripper Unit (with Flat Silicone Fingers)
l 1x End Effector Coupling for Bolt Pattern
ISO 9409-1-50-4-M6 (with 1 m Pigtail Cable)
l 1 x 10 m Robotiq Device Cable
l 1x RS485 to RS232 Converter
l 1x Screw Kit for Fixing End Effector Coupling on TM
Robots
l 1x RS485 to USBConverter (for troubleshooting or Slave
Address IDChange on a PC)
l 1x 2F-140 Basic Gripper Unit (with Flat Silicone Fingers)
l 1x End Effector Coupling for Bolt Pattern
ISO 9409-1-50-4-M6 (with 1 m Pigtail Cable)
l 1 x 10 m Robotiq Device Cable
l 1x RS485 to RS232 Converter
l 1x Screw Kit for Fixing End Effector Coupling on TM
Robots
l 1x RS485 to USBConverter (for troubleshooting or Slave
Address IDChange on a PC)

3.2. Required Tools and Equipment

The following tools are required to install the 2-Finger Adaptive Gripper:
l 4 mm hex key to mount the Gripper onto its coupling.
l Metric hex key according to your coupling to mount the coupling onto the robot.
Optional tools if installing finger kits: AGC-FIN-KIT-085 or AGC-FIN-KIT-140:
l 2 mm hex key
Optional tools if installing other fingertips: AGC-TIP-204-085, AGC-TIP-205-085, AGC-TIP-420-140, AGC-TIP-420-140
l 4 mm hex key
The following parts are required for setup :
l Power supply (see below).
l Fuse (if applicable), see information below.
l Emergency stop is not provided, but its use is strongly advised.
The Gripper needs to be supplied by a DC voltage source. This power supply is not included 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.
Table 3-1: 2-Finger power supply requirements.
Info
1
Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal, use AWG #20 wiring.
Warning
2F-85 &2F-140 - Instruction Manual
If your power supply could exceed the specified regulation, over-voltage protection is required.
Robotiq recommends the use of the following power supplies:
Tip
Optional Robotiq Universal Controller can use the same power supply.

3.3. Environmental and Operating Conditions

CONDITION VALUE
19
Minimum storage/transit temperature
Maximum storage/transit temperature
Minimum operating temperature -10°C [14°F]
Maximum operating temperature 50°C [122°F]
Humidity (non-condensing) 20-80% RH
Vibration < 0.5G
Other
Table 3-2: Environmental and operating conditions of the 2-Finger Adaptive Gripper.
-30°C [-22°F]
60°C [140°F]
l Free from dust, soot or fluids
l Free from corrosive liquids or gases
l Free from explosive liquids or gases
l Free from powerful electromagnetic inter-
ference

3.4. Mechanical Installation

3.4.1. Installing fingers on the Gripper

Depending on your order, you may or may not have fingers already mounted on the Gripper. The first step of installation should be to install the fingers. Refer to the figure below for finger placement. To do so :
1. Align fingers with chassis axes. To do so, the slot on the finger bar should be aligned correctly with the corresponding chassis axis.
2. Insert the finger shaft in the finger bar bracket hole and through the chassis axis (top hole is for parallel locking while bottom hole is for finger installation)..
3. Apply medium strength threadlocker on the provided screws, align the finger bar and fasten to the chassis/chassis axis.
2F-85 &2F-140 - Instruction Manual
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Fig. 3-1: 2-Finger Adaptive Gripper installation.
2F-85 &2F-140 - Instruction Manual
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3.4.2. Installing the fingertips on the Gripper

Depending on your options, you may have fingertips to install. The second step of the installation should be to install the fingertips. To do so:
1. Align the fingertip indexing pins with the finger dowel holes.
2. Insert the M5 X 10 low head cap screws and screw on after applying low strength threadlocker.
Fig. 3-2: Installing the fingertips on the Gripper
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3.4.3. Installing a Protector Kit on the Gripper Fingers

An optional protector kit (AGC-PRO-KIT-V4) can be ordred to cover the fingers of the 2F-85 and therefore protect users and assets against pinch points.
You can install them using eight (8) M3 screws.
Fig. 3-3: Protector Kit Installation

3.4.4. Installing the Gripper onto the robot

Single Gripper
You must use a coupling to attach the Gripper to the robot.
Here are the steps to follow to mount the Gripper on the robot (exploded view in the figure below). Note that all screws must be locked in place using medium strength threadlocker.
1. Screw the coupling to the robot wrist; align properly with the dowel pin
2. Fasten the Gripper to the coupling
2F-85 &2F-140 - Instruction Manual
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Fig. 3-4: Installing a Gripper on the robot wrist
Multiple Grippers
When installing multiple grippers on one robot, every gripper must have its own coupling.
1. Install a mounting plate (not provided) first on the robot arm (AGC-APL-159-02).
2. Mount the gripper couplings on the mounting plate using the provided M6 X 10 mm screws.
3. Mount the grippers onto their coupling using the provided M5 X 35 mm screws.
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Fig. 3-5: Exploded View of a Dual Gripper Setup
Fig. 3-6: Exploded view of a dual gripper setup

3.5. Electrical Setup

Power and communication are established with the 2-Finger Adaptive Robot Gripper via a single Device Cable. The Device Cable provides a 24V power supply to the Gripper and enables serial RS485 communication to the robot controller. An optional Robotiq Universal Controller may be used between the Gripper and the network / robot controller if fieldbus communication is required.
Info
RS485 signals (485+, 485- and 485 GND) are isolated from the main 24V power supply. 4 GND can be connected to any other ground reference as long as the voltage potential between the grounds does not exceed 250V. Grounding reference is at the user's discretion.
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 the figure below. They link through the coupling indexing pin to the robot ground. Proximal bars, distal phalanx, fingertip base and fingertips are isolated.
2F-85 &2F-140 - Instruction Manual
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Fig. 3-7: Robotiq 2-Finger electrical isolation / grounding.
2F-85 &2F-140 - Instruction Manual
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3.5.1. Pinout Interface

The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface.
Info
The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6.

3.5.2. Coupling to controller

If a Robotiq Universal Controller is used, please refer to the Robotiq Universal Controller manual. The figure below represents the wiring schematic of the 2-Finger with device cable, power supply, fuse (please refer to the Required Tools and Equipment section)and grounding.
2F-85 &2F-140 - Instruction Manual
Fig. 3-8: Pigtail cable and device cable wiring schematic.
Fig. 3-9: Robotiq 2-Finger with pigtail cable and device cable wiring schematic.
27
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.
The figure below represents the 2-Finger pigtail connector from the coupling (AGC-CPL-XXX), device cable - robot side (CBL-COM-2065-XX) and their associated pinout.
Fig. 3-10: Pinout of the 2-Finger pigtail and device cable.
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If additional cable is used, suggested cable specifications are as follows:
Power supply, fusing:
Single Gripper
Connect the white, green and bare wires to the Robotiq RS485 to RS232 signal converter (ACC-ADT-RS232-RS485) as shown in the figure below.
Fig. 3-11: Gripper Cable to RS485/RS232 Converter
Also connect the red (24V) and black (0V) wires in the controller according to the figure below.
Fig. 3-12: Gripper Cable to Terminal Connector on the Controller
Multiple Grippers
It is possible to connect multiple grippers on the same robot. Only one RS485 to RS232 converter (ACC-ADT-RS232-RS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable (CBL-COM-2065-10-HF) that connects to the RS485 to RS232 converter.
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Fig. 3-13: Multiple grippers wiring
2F-85 &2F-140 - Instruction Manual

4. Control

Info
Unless specified, all values in this section are hexadecimal values.

4.1. Overview

Tip
Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper, like object detection and forcecontrol.
Since the Robotiq 2-Finger has its own embedded controller, high-level commands, such as "Go to requested position" are used to control it.
Info
30
The operator can:
l Control force, speed and position of the Gripper fingers.
l Finger movement is always synchronized, movement is initiated via a single "Go to requested position" command.
l Parallel or encompassing grasp is done automatically.
l A built in object detection feature is available, the user can be notified after an object is picked once the "Go to" command
has been initiated.
l Engage directional (open or close ) auto-release for emergencies.
Control using registers
The Gripper has an internal memory that is shared with the robot controller. One part of the memory is for the robot output;gripper functionalities. The other part of the memory is for the robot input; gripper status. Two types of actions can then be done by the robot controller :
1. Write in the robot output registers to activate functionalities;
2. Read in the robot input registers to get the status of the Gripper.
The Gripper Register Mapping section will map the different registers used to control the Gripper or to read its status while the Robot Output Registers &Functionalities section will detail the output (write) register functions, and the Robot Input Registers &Status section will detail the input (read) register status. The figure below is a representation of the memory and the control logic of the Gripper.
2F-85 &2F-140 - Instruction Manual
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