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

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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 Presen tat ion 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addressin 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 Contr ol logic - example 42
4.7 MODBUS RTU communication protocol 43
4.7.1 Connection setup 43
4.7.2 Read holding r egisters (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 UniversalRobots 61
4.9 Contr ol 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 In terface 67
6. Specif ications 68
6.1 Technical dimensions 68
6.2 Mechanical specifications 69
6.3 Design and customization 72
6.3.1 Finger pad r eplacement 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 Electricalratings 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 r eplacement 90
7.8 Overhaul 91
8. Spare Parts, Kit s and Accessories 92
9. Troubleshooting 95
10. Warranty 97
11. Contact 98
ECDeclaration of Conformity 99
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3-Finger Adaptive Robot GripperInstruction Manual
Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modificationsor changes in specifications. If such modification is made, the manual willalso 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 : Communicationwith 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
Sectionsadded: User Interface and MODBUS TCP communication protocol
Revision 110515
Manual release
Cop yrigh t
© 2008-2014 Robotiq Inc. Allrights reserved.
This manual, and the product it describes, are pr otected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefor e may not be repr oduced 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 pr ovided by Robotiq in this document is believed to be accurate and reliable. However, no responsibilityis 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 issubject to change without notice.
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3-Finger Adaptive Robot GripperInstruction Manual
Copyright
© 2016 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 therefor e may not be repr oduced 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 pr ovided by Robotiq in this document is believed to be accurate and reliable. However, no responsibilityis 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 issubject to change without notice.
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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 metr ic system, unless specified, all d imensions 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 guidelinesmust be read and understood befor e 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 thr ee 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 simplifiesthe control of the Gripper.
Figure 1.1 : The Robotiq 3- Finger Adaptive Robot Gripper.
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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. T his movement is referr ed 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 b asic mod e is the most versatile Operation Mode. It is best suited for objectsthat have one dimension longer than the other two. It can gr ip a large variety of objects.
2. The wide mode is optimal for gripping round or large objects.
3. The p inch 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.
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The four pre-set Operation Modes can be chosen by the user (see Figure 1.3).
3-Finger Adaptive Robot GripperInstruction Manual
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 perfor med 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 willclose and the relative for ce that willbe applied to an object.
Figure 1.4 : Second movement of the 3-Finger Adaptive Robot Gripper: closing and opening the fingers.
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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.
l The Fing ertip Grip is when an object is only held by the distalphalanxes. This type of grip is similar to what is done with conventionalindustrial
parallel grippers. In this situation, the stability of the grip is maintained because of the friction between the fingers and the object.
l The 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.
Caut ion
It is important to note that a parallel grip can only be performed when the fingers touch the object with the distal phalanxesfirst. 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. F or example, in Pinch and Scissor modes, it is only possible to do Fingertip Gripping. On the other hand, the F ingertip Grip can occur in all four Operation Modes. Figure 1.6 summarizes the T ypes of Grip possiblefor 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 willdepend on:
l The Operation Mode; l The par t's geometry; l The 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 positionand geometry.
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3-Finger Adaptive Robot GripperInstruction Manual
Figure 1.6 : Operation Modes vs. Types of Grip.
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3-Finger Adaptive Robot GripperInstruction Manual
2. Safety
Warning The op erato r must have read and un derstood all of the instructions in the follo wing manual befo re handling the Ro bo tiq 3­Finger Adaptive Robot Gripper.
The term "operator " refers to anyone responsible for any of the following operations on the 3- Finger Adaptive Robot Gripper:
l Installation l Control l Maintenance l Inspection l Calibration l Programming l Decommissioning
This documentation explainsthe various components of the 3-Finger Adaptive Robot Gripper and its general operation. Please read this documentation thoroughly and be sure to understand its contents before handling the 3-Finger Adaptive Robot Gripper.
The dr awings 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
Note
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 proper ly 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 Alwaysrespect the recommended keying for electricalconnections. l Be sure no one is in the r obot and Gripper path before initializing the robot's routine. l Alwaysrespect 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. l Inappropr iate use of the Gripper may cause injury or damage.
3-Finger Adaptive Robot GripperInstruction Manual
Warning
Concerning Gripper use on a robot:
l Make sure all cord sets are always secured at both ends, at the Gripper and at the robot. l Alwayshandle the Gripper outside the robot danger zone for maintenance and inspection work or ensure complete shutdown of the robot. l For welding applications, make sure there are no Gripper parts on the ground path of the welding power source. l There is a risk that an object might be dropped or catapulted by the Gripper during use with a robot, precautions must be taken to prevent
any possible injury.
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3-Finger Adaptive Robot GripperInstruction Manual
2.2 Intended Use
The Gripper unit is designed for gripping and temporarily securing or holding parts.
Caut ion
The Gripper is NOT intended for applying force against objects or surfaces.
The pr oduct is intended for installation on a robot or other automated machinery and equipment.
Note
Alwayscomply with local and/or national laws, regulations and directiveson automation safety and general machine safety.
The unit may be used only within the r ange 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.
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3-Finger Adaptive Robot GripperInstruction Manual
3. Installation
Warning
Be sure to r ead and understand the safety instructionsrelated to the 3-Finger Gripper pr ior to installation.
Warning
Do not operate the Gripper, or even tur n on the power supply, before it is firmly anchored. The Gripper fingers may move and cause injury ordamage.
3.1 Scope of delivery
Standard upon delivery:
l Robotiq 3-F inger Adaptive Robot Gripper (AGS-001-XXXX)
l Replace XXXX by one of the following communication options :
l ENIP - EtherNet / IP l MTCP - Modbus TCP l M232 - Modbus RTU over serial 232 l M485 - Modbus RTU over serial 485 l ECAT - EtherCAT l DNET - DeviceNet l CANO - CANopen l PNET - PROFINET
l Default fingertip (see Technical dimensions). l 5m Power cable for the 3-Finger Adaptive Gripper CBL-PWR-2054. l USB cable CBL-USB-2057 ( for control via the Robotiq User Interface). l 5m Communicationcable according to your communication protocol option. l 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:
l Hardware required for any of the communication options, accessories,faceplates or fixtures. l Power supply unit, power supply wiring or fuse.
See Spare Parts, Kits and Accessories section for a list of available parts.
3.2 Environmental and operating conditions
The Gripper is designed for industrial applications. Always respect the conditions specified for storage and operating environments:
SPECIFICATION VALUE
Minimum storage/transit temper ature -22°F [-30°C]
Maximum storage/transit temper ature 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
l Free from dust, soot or water l Free from corrosive gases, liquids or explosive gases l Free from powerful electromagnetic interference sources
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3-Finger Adaptive Robot GripperInstruction Manual
Cleanlinessof the Gripper surface influences friction between parts and the Gripper, keep your Gripper clean and away from debris generators. Follow the specified maintenance intervals.
3.3 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 blanksin section6.6 for you or you can build one based on the dimensionsin section 6.6.1.1. Please see Robotiq support Options and Spare Par ts section for a list of available coupling and adapters.
Here are the steps to follow for the installation of the Gripper (see F igure 3.3.1). Note that all screws must be locked in place using medium strength thread locker (Loctite 248).
1. Screw the Coupling to your robot arm (if your cables are running through the robot, be sure to use a Coupling with a groove).
a. If you are using an Adapter Plate, it must be mounted first on the robot arm, using the dowel pins for indexing and the screws to secure the
adapter plate in place.
b. Attach the Coupling to the robot arm using the correct dowel pins for indexing.
c. Secure the Coupling with the coupling(robot) screws.
2. Insert the Gripper's Universal Wrist into the coupling and align the indexing dowel pin with the associated hole.
3. Secure the Gripper to the Coupling with the radial screws.
Figure 3.3.1 : Attaching the 3- Finger Gripper to a robot arm with the use of a Coupling.
3.4 Power supply specifications
The Gripper needs to be supplied by a DC voltage source. This power supply is not included with the Gripper. The following table shows the specificationsregarding the power supply required to operate the Gripper properly.
SPECIFICATION VALUE
Output voltage 24 V DC
Output current 2 A
Ripple 2-3 % peak-peak
Output regulation 10% maximum
Overcurrent 4 A fuse at 77°F [25°C]
Maximum fuse I2t factor 100 A2s at 77°F [25°C]
Overvoltage protection Not required
1
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3-Finger Adaptive Robot GripperInstruction Manual
Warning
1
Alwaysrespect the r ipple 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 pr otection 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
Two connectionsare needed for the 3-Finger Gripper, one for power and one for communication. On the Gripper, both are located on the Connection Panel shown in Figure 3.5.1.
Figure 3.5.1 : Power, USB and communication receptacles shown with USB cover removed.
Connections ar e identified as:
l PWR for power connection. l COM for communicationconnection (depends on your chosen protocol). l USB for a standard USB male A jack (present on allproducts).
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 ( PWR) are standar d on every Robotiq 3-Finger Adaptive Robot Gripper.
To access the USB panel:
1. Unscrew the two 4-40 FHMS (Flat Head Machine Screws) pr esent on the cover.
2. Remove the cover.
3. Plug in your standard Male-A USB 2.0 connector.
Tip
When closing the panel, apply low strength (pink) Loctite to the screws to prevent loosening.
Standard cablesfor the 3-F inger Adaptive Robot Gripper are:
l 5 meters power cable l 5 meters communication cable (according to your chosen communication protocol) l 5 meters USB 2.0 cable A-A male
Info
Allrequired cables are available from Robotiq, see the Spare Parts, Kits and Accessories section.
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3-Finger Adaptive Robot GripperInstruction Manual
Warning
Use proper cabling management. Be sure to have enough forgivenessin the cabling to allow movement of the Gripper along all axes without putting tension on the cable or pulling out the connectors. Always protect the controller-side connector of the cable with a strain relief cableclamp.
3.5.1 Power connection
Here is the way the Gripper 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.
Caut ion
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.
Figure 3.5.1.2 : Gripper Power Input and Power Connector.
Info
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3-Finger Adaptive Robot GripperInstruction Manual
RS485 communication is standard on all 3- Finger Grippers, see the Serial Communication Protocol section. If not using RS485 communication, simplyleave the two wires unconnected.
The 3- Finger Gripper should be supplied with cables that have the following specifications:
l Approximate length of 5 meters. l DeviceNet standard cable. l Power pair :
l two (2) #22 AWG (black and red).
l Data pair :
l two (2) #22 AWG (blue and white).
l Shield :
l Foil (data only) #22 AWG.
3.5.2 Communication connection
By default, the power receptacleof the 3-Finger Adaptive Robot Gripper handles the communication via the MODBUSRTU protocol (RS232 or RS485). The following table summarizesthe communication protocols available thr ough the communication receptacle of the Gripper. Note that only one other protocol option is available in a given Gripper unit (MODBUS RTUprotocol always being included). The Gripper that you have was configured before shipment with only one of the following protocols.
Family Protocol
Real-Time-Ethernet EtherNet/IP
Modbus TCP/IP
PROFINET
EtherCAT
Fieldbus DeviceNet
CANopen
The communication cable and connectors provided with the 3-Finger Gripper model vary with the communication protocol option choice. Each protocol has its own pin-out and cable. Provided cable has an appr oximate length of 5m. See details in the following sections for your communication pinout.
Warning
Be sure to use the appropriate cables and pin-outs for your communication protocol as any other setup may damage the Gripper.
DeviceNet co mmunication 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.
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Figure 3.5.2.1 : DeviceNet communication pinout.
3-Finger Adaptive Robot GripperInstruction Manual
The DeviceNet communication and the 3-Finger Gripper use a 24 V supply. Robotiq suggests separating the power suppliesas shown in Figure3.5.2.2.
Caut ion
l There is no terminating resistor mounted in the Gripper. l The shield of the cable must be grounded in the robot controller. l Fusing must be respected.
Tips
DeviceNet standar d requires a 120 Ohms resistor to be mounted at the beginning and at the end of the line. If the Gripper is the end of line, then a 120 Ohms resistor must be mounted between pin 4 and 5.
Figure 3.5.2.2 : Power connection diagram for the 3-Finger Gripper using DeviceNet Fieldbus.
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Factory settings for DeviceNet protocol:
Info Decimal Value (base 10) Hexadecimal Value ( base 16)
Vendor ID 283 0x0000011B
Product Code 35 0x00000023
Serial Number 0 0x00000000
Product Type 12 0x0000000C
Major Revision 1
Minor Revision 1
Product Name AG-DNS
3-Finger Adaptive Robot GripperInstruction Manual
Identificatio n Settin gs
BUSSETT INGS
MACID 11
Baud Rate 250 KBaud
DATASETT INGS
Prod. Data Length 16
Cons. Data Length 16
CANopen co mmunication 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.
Caut ion
l There is no terminating resistor mounted in the Gripper. l The shield of the cable must be grounded in the robot controller.
Figure 3.5.2.3 : CANopen communication pinout.
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3-Finger Adaptive Robot GripperInstruction Manual
l Fusing must be respected.
Tip
CANopen standard requires a 120 Ohms resistor to be mounted at the beginning and at the end of the line. If Gripper is the end of line, then a 120 Ohms resistor must but mounted between pin 4 and 5.
Figure 3.5.2.4 : Power connection diagram of the 3-Finger Gripper using CANopen Fieldbus.
Factory settings for CANopen pr otocol:
Identificatio n Settin gs
Info Decimal Value (base 10) Hexadecimal Value ( base 16)
Vendor ID 68 0x00000044
Product Code 1541540 0x001785A4
Revision Number 131072 0x00020000
Serial Number 0 0x00000000
BUSSETT INGS
MACID 11
Baud Rate 250 KBaud
DATA SETTINGS
Index Size
Send Object 0x2000 128
Receive Object 0x2200 128
Output Databytes 512
Input Databytes 512
Real-time Ethernet communicat ion protocol
Real-time Ethernet communication includes Ether net/IP, Ether CAT, 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-F inger Adaptive Robot Gripper and the cable (male) provided with your Gripper.
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Figure 3.5.2.5 : Real-time Ethernet communication pin-out.
3-Finger Adaptive Robot GripperInstruction Manual
Tip
The 3- Finger Adaptive Robot Gripper features an auto-crossover, so there is no need to cross the RX/T X signals.
Factory settings for each Ether net pr otocols:
IDENTIFICATIONSETTINGS
EtherCAT EtherNet/IP PROFINET Modbus
Vendor ID 0x0000FFFF 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 0x00000000 Major Revsision 1 Order ID 1541.110
Minor Revision 1 Name of station nic50repns
Device Name AG-EIS Type of station Default.Station.Ty
pe
Device AccessPoint
BUSSETT INGS
EtherCAT EtherNet/IP PROFINET Modbus TCP/IP
N/A (see
IP Address 192.168.1.11 Bus Startup Automatic IP Address 192.168.1.11
info note)
Netmask 255.255.255.0Watchdog Time 1000ms Netmask 255.255.255.0
TCP/IP
Gateway Disabled Gateway Disabled
BootP Disabled BootP Disabled
DHCP Disabled DHCP Disabled
100Mbit Enabled 100Mbit always on
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3-Finger Adaptive Robot GripperInstruction Manual
BUSSETT INGS
Full Duplex Enabled Full Duplex always on
Auto-neg Enabled Auto-neg always on
Assembly
101 Instance (input)
Assembly
100 Instance (output)
Configurati
1
on Instance
Connection Type
Run/Idle
Header
DATASETT INGS
EtherCAT EtherNet/IP PROFINET Modb us
TCP/IP
INput Data Bytes 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 inherent dynamicaddressing, thus bus settings cannot be customized.
Info
Ethernet/IP uses 4 bytes of header which may be visible or not depending on the master.
Serial communication protocol
RS485 serial communication is standard on all 3-Finger Adaptive Robot Grippers, this communication is available through the power connector. Figure
3.5.2.6 shows the pin-out of the communication connectors when used in serial mode for the receptacle (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 stillrespect the schematics described in the section on Power connection.
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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.
Figure 3.5.2.7 : Serial communication converted from RS485 to RS232.
Factory settings for Modbus RTU protocols:
PROPRIETY VALUE
Physical Interface RS485-RS232
Baud Rate 115,200 bps
IDENTIFICATIONSETTINGS
Slave ID 9
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3-Finger Adaptive Robot GripperInstruction Manual
PROPRIETY VALUE
Data Bits 8
Stop Bit 1
Parity None
Number Notation Hexadecimal
Supported Functions Read Holding Registers (FC03)
Preset Single Register (F C06)
Preset Multiple Registers (FC16)
Exception Responses Not supported
Slave ID 0x0009 (9)
Robot Output / Gripper Input First Register 0x03E8 (1000)
Robot Input / Gripper Output First Register 0x07D0 (2000)
See section 4.7.1 for details
DATASETT INGS
Number of Register 5000
3.6 Installation for Universal Robots
3.6.1 Communication
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 UniversalRobots, the 3-Finger Adaptive Robot Gripper must be ordered with the Modbus TCP communication protocol.
3.6.2 Configuring the IPaddress of the Gripper
Use the Robotiq User Interface to configure the IPaddress and subnet mask in the Modbus TCPtab. See the Robotiq User Interface Instruction
Manual for details.
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3-Finger Adaptive Robot GripperInstruction Manual
Info
The 3- Finger Gripper's factory default IPaddress is 192.168.1.11
Caut ion
The IPaddress of the Gripper and that of the URcontroller must be on the same subnetwork. For instance, if the Gripper's address is 192.168.1.11, the URcontroller will follow the addr essing sequence 192.168.1.x.
3.6.3 Configuring the URcontroller network
When starting PolyScope, tap Setup Robot and then Network. Fill in the network settings applicableto the Gripper and tap the Apply button.
Info
If the robot is not connected to a network, the 3-Finger Gripper's Ethernet cable can be connected directlyto the Ether net por t of the URcontroller. T he Gripper's IPaddress can be left 192.168.1.11 and the user can configure the robot with the above settings.
3.6.4 URCaps Package
Robotiq providesyou with a Universal Robots URCaps package that enables Modbus T CPcommunication to your URcontroller.
Info
To get the URCaps package for your URcontroller, visitsupport.robotiq.com.
Make sure the 3-Finger Adaptive Robot Gripper is properly mounted to the robot arm. Refer to section 3.3 Mechanicalconnectionsfor detailed information on the mechanicalinstallation of the Gripper. Before proceeding with the installation of the URCaps package, make sure your Universal Robots controller is running PolyScope version 3.4 and higher.
The Gripper's URCaps package contains:
l The URCaps for the Gripper l The Gripper nodes
For details on controlling the Gripper, refer to section 4. Control
Info
Visit support.robotiq.com for detailed information on how to program using the URCaps package (section 4.9 Control over Universal Robots
with URCaps)
Follow this procedure to installthe 3-Finger Adaptive Robot Gripper URCaps package:
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3-Finger Adaptive Robot GripperInstruction Manual
l Make sure that your PolyScope version is up-to date and that your
Universal Robots controller is compatible with the Gripper's URCaps package.
l Go to support.robotiq.com and click on the 3-Finger Adaptive Robot
Gripper product page.
l Download the UC3-X.X.X file and extract it on the root of a blank
USstick.
l Insert the USBstick in the URteach pendant or controller. l Go to Setup Robot.
l Tap URCaps Setup.
l Tap the plus button (+) to add the Gripper's URCaps package. l Open Robotiq_3-F inger_Adaptive_Gripper-X.X.X.urcap.
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3-Finger Adaptive Robot GripperInstruction Manual
l Restart PolyScope to complete URCaps installation. By doing so,
you accept the LicenseAgreement 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.
The user can modify the 3-F inger Gripper's IPaddresshere. Refer to section 3.6.2 to read how to configure the 3-F inger Gripper's IPaddress.
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3-Finger Adaptive Robot GripperInstruction Manual
3.7 License Agreement
END-USER LICENSE AGREEMENT
YOU SHOULD CAREFULLY READ T HE F OLLOWING AGREEMENT BEFORE USING THE Software (as this term is hereinafter defined). Using the Software indicatesyour acceptance of the agreement. If you do not agree with it, you are not authorized to use the Software.
IMPORTANT-READ CAREF ULLY: T his End- User License Agreement (the “Agreement”) is a legal agreement between you and the Licensor ( as this term is hereinafter defined), the licensor of the Software. This Agreement covers the Software. The Software includesany “on- line” or electronic documentation and all modifications and upgrades related thereto. By installing, or otherwise using the Software, you agree to be bound by the terms of this Agreement. If you do not agree to the terms of this Agreement, the Licensor cannot and does not license the Software to you. In such event, you must not use or installthe Software.
1. Definition.
1. “UR” means Universal Robots A/S, a corporation incorporated under the laws of Denmark, having its registered office at Energivej25, DK-5260 Odense S, which specializes into the conception, advanced manufacturing and sale of robotic products (the “UR’s Business”);
2. “Softwar e” means any of the Licensor’ssoftwares provided to its customers for the purposes mentioned in Sub-section 1.4 hereof including their modifications and upgrades and their related materials;
3. “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 325-966 chemin Olivier, Lévis,Québec, Canada, G7A 2N1, which specializesinto the conception, advanced manufacturing and sale of robotic products (the “ Licensor’s Business”);
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2. License. Subject to the terms and conditions hereof, the Licensor gr ants to the End-User a personal, temporary, non-exclusive, non-assignable and non-transferable and revocablelicense to use the Software in accordance with the terms and conditions hereof.
3. Software and Documentation. The Licensor may provide, if applicable, all documentation containing the detailed specifications for operation and use of the Software, which Software shall be used in accordance with such documentation. This documentation, if applicable, willbe provided, wholly or in part, within (i) this Agreement, (ii) the Licensor’sWeb site http://robotiq.com/ (iii) the Licensor’sProducts and the Purchase Agreement therewith, or (iv) any other agreement, document, support, whatsoever decided by the Licensor.
The use of the Softwar e requires the Licensor’s Products, UR’s Products, compatible systems and certain software (which may require some expenses), may require periodical updating and may be affected by such elements. Most equipment willbe compatible with the Softwar e. However, the Software may not function on certain types of equipment..
4. Modifications and Upgrades. The Licensor shallbe under no obligation to provide any upgrade or modification to the Software. However, the End-User shallbe entitled to receive free of charge all modifications and upgrades of the Software provided by the Licensor if, at such time, the End-User is not in default in respect of any of its obligation contained herein. Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’sWebsite http://robotiq.com/ where a linkto proceed to such installation willbe made available thereof. A new version of the Software shall not be covered by this Section 4 but shallrequire that a new End-User Software LicenseAgreement be entered into between the Licensor and the End-User.
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7. Title to Software. The licensed Software is composed of confidential data and trade secrets and is proprietary to and constitutes trade secret information and intellectual property of the Licensor. Title and ownership rights to the Software, including the intellectual property rights related thereto, shallremain with the Licensor. The End-User agrees to maintain the confidential natur e of the Software and r elated materials provided for the End-User’s own internal use under this Agreement. T he license granted herein does not include the right to sublicense to others, and may not be assigned to others, in whole or in par t, without the prior written consent of the Licensor. The End-User may not or allow other s to modify or prepare directive works, copy (except for normal backups for recovery purposes), reproduce, r epublish, reverse engineer, upload, post, transmit, or distribute, in any manner, the Software.
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1.4 hereof. Any other use of the Software, including resell derivative modificationsor extensions, is expressly prohibited.
9. Exclusion of Warranty on Software. The End-User expresslyacknowledges and agrees that use of the Software is at the End-User sole risk.The Software is provided “AS IS” and without warranty of any kind. T HE LICENSOR AND THE LICENSOR’S AUTHORIZED REPRESEN-TATIVES DO NOT WARRANT THAT Software WILL BE FREE OF ERRORS AND YOU ACKNOWLEDGE THAT THE EXISTENCE OF ANY SUCH ERRORS DOES NOT CONSTITUT E A BREACH OF THIS AGREEMENT. TO T HE EXTENT PERMITTED BY LAW LICENSOR AND LICENSOR’S AUTHORIZED REPRESEN-TATIVES EXPRESSLY DISCLAIM ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING , BUT NOT LIMIT ED T O, THE IMPLIED WARRANTIES OF MERCHANTA-BILITY AND F ITNESS FOR A PARTICULAR PURPOSE UNLESS OTHERWISE STATED HEREIN. LICENSOR AND LICENSOR’S AUTHORIZED REPRESENT ATIVES DO NOT WARRANT THAT THE FUNCTIONS CONTAINED IN THE Software WILL MEET THE END-USER REQUIREMENTS OR THAT THE OPERATION OF THE Software WILL BE CORRECT. F URTHERMORE, LICENSOR AND LICENSOR’S AUTHORIZED REPRESEN-T ATIVES DO NOT WARRANT OR
29
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 CORRECT NESS, 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 WARRANT Y. SHOULD THE Software PROVE DEFECTIVE IN YOUR TECHNOLOGY ENVIRONMENT , YOU ASSUME THE ENTIRE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECT ION TO YOUR OWN TECHNOLOGYENVIRONMENT.
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8. The parties confirm that they have agr eed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soient rédigés en anglais seulement.
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3-Finger Adaptive Robot GripperInstruction Manual
4. Control
Info
Unless specified, all values in Section 4 are hexadecimal values.
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB ( Most Significant Bit). Meaning that bytes are written with the least significant byte in the smallest address. If Big-endian would be wr iting fr om left to right, Little-endian would be writing from right to left.
4.1 Overview
Caut ion
This sectionapplies to firmware 3.0 (Grippers delivered after November 2011). For prior versions please see the documentation archives.
The Robotiq 3-F inger Adaptive Robot Gripper is controlled from the robot controller (see Figure 4.1.1) using an industrial protocol (EtherNet/IP, DeviceNet, CANopen, EtherCat, etc.). The programming of the Gripper can be done with the T each Pendant of the robot or by offline pr ogramming.
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 automaticallyadapts to the shape of object(s).
The Gripper controller 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 memor y is for the robot input, gripper status. Two types of actions can then be done by the robot controller:
1. Write in the rob ot output registers to activate f un ctionalities;
2. Read in the robo t inpu t registers to get the status of the Gripper.
To control the 3-F inger Adaptive Robot Gripper, Output Registers & Functionnalities must be written, the following is a summary of the various registers, see Robot output registers & functionnalities for details:
l Actio n Request - Will command the Gripper to activate, switch operation mode, go to requested position or release its grip. l Gripper Opt ion s - Contains optional modes of controls. l Position Requ est - Sets the desired position of the grip (but does not activate movement). l Speed - Sets the desired speed of the grip. l Force - Sets the desired force of the grip.
Hint
Figure 4.1.1 : 3-Finger Gripper connections.
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3-Finger Adaptive Robot GripperInstruction Manual
l For each Operation Mode, the operator can control the force and the speed of the fingers. l Unless individual control is selected, the movement of the fingers is always synchronized, movement is done with a single "Go to requested
position" command ( the motion of each mechanical phalanx is done automatically).
l The Gripper must be initialized (activation bit) at power on. This procedure takes a few seconds and allows the Gripper to be calibrated
against internal mechanicalstops.
The 3- Finger Gripper returns several registers of information to the robot controller to be read, this is called Input Registers & Status, see Robot input registers & status for details:
l Global Gripper Stat us - A global Gripper Status is available. This gives information such as which Operation Mode is currently activeor if the
Gripper is closed or open.
l Object Status - There is also an Object Status that let you know if there is an object in the Gripper and, in the affirmative, how many fingers are in
contact with it.
Hint
l Object status is a built in feature that allows for object pick-up detection, see Robot input registers & status for details.
l Fault Status - The Fault Status gives additional detailsabout the cause of a fault. l Position Requ est Echo - The Gripper retur ns the position requested by the robot to make sure that the new command has been
receivedcorrectly.
l Motor Encoder Status - Information on the encoders for the four motors is also available. l Current Status - The current of the motor s can also be known. Since the torque of the motor is a linear function of the current, this gives
information about the force that is applied at the actuation linkage of the finger.
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.
4.2.1 Supply LED
COLOR STATE INFORMATION
Blue Off Gripper is not supplied with power
Blue On The Gripper is correctly supplied and the
4.2.2 Communication LED
control board is running
32
COLOR STATE INFORMATION
Green Off Gripper is not supplied with power
Green Blinking The Gripper is correctly supplied and the
Green On A network has been detected and at least one
4.2.3 Fault LED
COLOR STATE INFORMATION
Red Off No fault detected
Red On A minor fault occurred (or the Gripper
Red Blinking A network has been detected and at least one
3-Finger Adaptive Robot GripperInstruction Manual
control board is running
connection is in the established state
isbooting)
connection is in the established state
Info
A major fault refers to a situation where the Gripper must be reactivated.
4.3 Gripper register mapping
The 3- Finger Gripper firmware providesfunctionalities such as the direct position control of the fingers via "Go To" commands. There are also additional advanced options, such as the individual control of the fingers or the Scissor Mode.
A Simplified Control Mode is available for users which do not intend to use the advanced option. Otherwise a register mapping for the Advanced Control Mode containing all the Gripper functionalitiesis also provided. From the Gripper standpoint, there is no difference between the two modes. The Simple Control Mode is only intended to ease usage of the Gripper for users who ar e only interested in basic functionalities.
Warning
When using the Simplified Control Mode, it is important to fillthe unused registers with zeros. Neglecting to do so will r esult in the unwanted triggering of control options and might lead to a hazardous behavior from the Gripper. Zero fillis 00 in hexadecimal or 00000000 in binary.
Register mapping for the Simplified Control Mode:
Caut ion
Byte numeration starts on zero and not at 1 for the functionalities and status registers.
REGISTER ROBOT OUTPUT/FUNCTIONALITIES ROBOT INPUT/STATUS
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 NOT USED IN SIMPLE MODE
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3-Finger Adaptive Robot GripperInstruction Manual
REGISTER ROBOT OUTPUT/FUNCTIONALITIES ROBOT INPUT/STATUS
Byte 7 00 FINGER B POSITION
Byte 8 00 FINGER B CURRENT
Byte 9 00 NOT USED IN SIMPLE MODE
Bye 10 00 FINGER C POSITION
Byte 11 00 FINGER C CURRENT
Byte 12 00 NOT USED IN SIMPLE MODE
Byte 13 00 SCISSOR POSITION
Byte 14 00 SCISSOR CURRENT
Byte 15 RESERVED RESERVED
Register mapping for the Advanced Control Mode:
REGISTER ROBOT OUTPUT/FUNCTIONALITIES ROBOT INPUT/STATUS
Byte 0 ACTION REQUEST GRIPPER STATUS
Byte 1 GRIPPER OPTIONS OBJECT DETECTION
Byte 2 GRIPPER OPTIONS #2 (EMPTY) FAULT STATUS
Byte 3 POSITION REQUEST (FINGER A IN INDIVIDUAL MODE) POS. REQUEST 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 B SPEED F INGER B POSITION
Byte 8 FINGER B FORCE FINGER B CURRENT
Byte 9 FINGER C POSITION REQUEST FINGER C POS. REQUEST ECHO
Bye 10 FINGER C SPEED FINGER C POSITION
Byte 11 FINGER C FORCE FINGER C CURRENT
Byte 12 SCISSOR POSITION REQUEST SCISSOR POS. REQUEST ECHO
Byte 13 SCISSOR SPEED SCISSOR POSITION
Byte 14 SCISSOR F ORCE SCISSOR CURRENT
Byte 15 RESERVED RESERVED
4.4 Robot output registers & functionalities
Register: ACTION REQUEST Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols Reserved rATR rGTO rMOD rACT
rACT: First action to be made prior to any other actions, rACT bit will initialize the Adaptive Gripper. Clear rACT to reset the Gripper and clear
faultstatus.
l 0x0 - Deactivate Gripper. l 0x1 - Activate Gripper (must stay on after activation routine is completed).
Warning
When setting rACT to one, the Gripper will begin movement to complete its auto-calibration feature.
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3-Finger Adaptive Robot GripperInstruction Manual
Caut ion
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. This option is ignored if the bit rICS is set (individual control of the scissor motion option).
l 0x0 – Go to BasicMode. l 0x1 – Go to Pinch Mode. l 0x2 – Go to Wide Mode. l 0x3 – Go to Scissor Mode.
rGTO: T he "Go T o" action moves the Gripper fingers to the requested position using the configuration defined by the other registers and the rMOD bits. The only motions performed without the rGTO bit are: activation, the mode change and automatic r elease routines.
l 0x0 - Stop. l 0x1 - Go to requested position.
rATR: Automatic Release r outine action slowlyopens the Gripper fingers until all motion axes reach their mechanical limits. After all motion is completed, the Gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit overrides all other commands excluding the activation bit (rACT) .
l 0x0 - Normal. l 0x1 - Emergency auto- release.
Caut ion
The Automatic Release is meant to disengage the Gripper after an emergency stop of the robot. The Automatic Release is not intended to be used under normal operating conditions.
Register: GRIPPER OPTION 1 Address: Byte 1
rICF: In IndividualControl of Fingers Mode each finger receives its own command (position request, speed and force) unlessthe Gripper is in the Scissor Grasping Mode and the Independent Contr ol of Scissor (rICS) is not activated. Please refer to the rPRA (Position Request) register description for information about the reachable positions of the fingers.
l 0x0 - Normal. l 0x1 - Enable Individual Control of Fingers A, B and C.
Caut ion
As soon as the rICF bit is set, the fingers willmove towards the target defined by the position request bytes. To avoid unwanted motion of the fingers, it is preferable to define the position requests before setting the rICF bit. It is also possible to clear the rGTO bit, configure the registers according to the desired motion and then set the rGTO bit to start the motion.
Bits 7 6 5 4 3 2 1 0
Symbols Reserved rICS rICF Reserved
rICS: In Individual Control of Scissor, the scissor axis moves independently from the Grasping Mode. When this option is selected, the rMOD bits (Grasping Mode) are ignored as the scissor axisposition is defined by the rPRS (Position Request for the Scissor axis) register which takespriority.
l 0x0 - Normal. l 0x1 - Enable Individual Control of Scissor. Disable Mode Selection.
Info
To avoid geometr ic interference between Fingers B and C, the reachable positionsfor the scissor axisis reduced if the Individual Control of Scissor option is selected. Please refer to the rPRA (Position Request) register description for more information about the reachable positions of the scissor axis.
Register: GRIPPER OPTION 2 Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbols Reserved
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3-Finger Adaptive Robot GripperInstruction Manual
Register: POSITION REQUEST (FINGER A IN INDIVIDUAL MODE) Address: Byte 3
Bits 7 6 5 4 3 2 1 0
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 r espectively to the fully opened and fully closed mechanicalstops. Figure 4.4.1 represents the reachable workspace of the fingers and scissor axis. Note that the finger position on the figure represents the maximum value for the three fingers. Also, note that the fully opened and fully closed software limits are not shown on the figure for simplicity.The fullyclosed software limit of the scissor axis when the Individual Control of Scissor option is selected is also not shown for simplicity.
rPRA
l 0x00 minimum position (open) l 0xFF maximum position (close)
Info
In order to protect the Gripper from geometric interferences, several software limitsare implemented and therefore some positions are not reachable. When a finger reaches the software limit, the Gripper status willindicate that the requested position has been r eached. This is because the requested position is internallyreplaced by the software limit. In figure 4.4.1, zone 1 is the never reachable space, while zone 2 is only reachable when requesting the scissor motion in individual mode.
Figure 4.4.1 : Reachable workspace of the fingers and scissor axis, zone 1 is never reachable, zone 2 is only reachable in individualcontrol of
Register: SPEED (FINGER A IN INDIVIDUAL 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 rICF is set) in real time, however, setting a speed will not initiate amotion.
rSPA
l 0x00 minimum speed l 0xFF maximum speed
ScissorMode.
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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) 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 rICF is set). T he for ce 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
l 0x00 minimum for ce l 0xFF maximum for ce
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, r elation 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 F inger B target position. It is only available if the Individual Control of Finger option is selected (bit rICF is set). Please refer to rPRA ( position request) register for more information.
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 rICF is set). Please refer to rSPA (speed) register for more information.
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 IndividualControl of Finger option is selected (bit rICF is set). Please refer to rFRA (force) register for more information.
Register: FINGER C POSITION REQUEST Address: Byte 9
Bits 7 6 5 4 3 2 1 0
Symbols rPRC
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3-Finger Adaptive Robot GripperInstruction Manual
This register is used to set the F inger C target position. It isonly applied if the Individual Control of Finger option is selected (bit rICF is set). Please refer to rPRA ( position request) register for more information.
Register: FINGER C SPEED Address: Byte 10
Bits 7 6 5 4 3 2 1 0
Symbols rSPC
This register is used to set Finger C speed. It is only applied if the IndividualControl of Finger option is selected (bit rICF is set). Please refer to rSPA (speed) register for more information.
Register: FINGER C FORCE Address: Byte 11
Bits 7 6 5 4 3 2 1 0
Symbols rFRC
This register is used to set Finger C force. It is only applied if the Individual Control of F inger option is selected (bit rICF is set). Please refer to rFRA (force) register for more information.
Register: SCISSOR POSITION REQUEST Address: Byte 12
Bits 7 6 5 4 3 2 1 0
Symbols rPRS
This register is used to set the scissor axis target position. It is only applied if the Individual Control of Scissor option is selected ( bit rICS is set). Please refer to rPRA (position r equest) register for more information.
Register: SCISSOR SPEED Address: Byte 13
Bits 7 6 5 4 3 2 1 0
Symbols rSPS
This register is used to set the scissor axis speed. It is only applied if the IndividualControl of Scissor option is selected (bit rICS is set). Please refer to rSPA (speed) register for more information.
Register: SCISSOR FORCE Address: Byte 14
Bits 7 6 5 4 3 2 1 0
Symbols rFRS
This register is used to set the scissor axis force. It is only applied if the Individual Control of Scissor option is selected ( bit rICS is set). Please refer to rFRA (force) register for more information.
4.5 Robot input registers & status
Register: GRIPPER STATUS Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols gSTA gIMC gGTO gMOD gACT
gACT: Initializationstatus, echo of the rACT bit (activation bit).
38
l 0x0 - Gripper reset. l 0x1 - Gripper activation.
gMOD: Operation Mode status, echo of the rMOD bits (grasping mode requested).
l 0x00 - Basic mode. l 0x01 - Pinch mode. l 0x02 - Wide mode. l 0x03 - Scissor mode.
gGTO: Action status, echo of the rGTO bit (go to bit).
l 0x0 - Stopped ( or perfor ming activation / grasping mode change / automatic release). l 0x1 - Go to Position Request.
gIMC: Gripper status, returns the current status of the Gripper.
l 0x00 - Gripper is in reset ( or automatic r elease) state. See Fault status if Gripper is activated. l 0x01 - Activation is in progress. l 0x02 - Mode change is in progress. l 0x03 - Activation and Mode change are complete.
gSTA: Motion status, returns the current motion of the Gripper fingers.
l 0x00 - Gripper is in motion towards requested position (only meaningful if gGTO = 1). l 0x01 - Gripper is stopped. One or two fingers stopped before requested position. l 0x02 - Gripper is stopped. All fingers stopped before requested position. l 0x03 - Gripper is stopped. All fingers reached requested position.
3-Finger Adaptive Robot GripperInstruction Manual
Hint
Monitoring Motion status and Object status (in byte 1) ar e very useful for object pick-up routines.
Register: OBJECT STATUS Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbols gDTS gDTC gDTB gDTA
Hint
Objectstatus byte provides you with a built-in object detection feature that can replace very complex algorithms.
gDT A
l 0x00 - Finger A is in motion (only meaningful if gGTO = 1). l 0x01 - Finger A has stopped due to a contact while opening. l 0x02 - Finger A has stopped due to a contact while closing. l 0x03 - Finger A is at the requested position.
gDT B: F inger B object detection status retur ns information on possible object contact from Finger B.
l 0x00 - Finger B is in motion (only meaningful if gGTO = 1). l 0x01 - Finger B has stopped due to a contact while opening. l 0x02 - Finger B has stopped due to a contact while closing. l 0x03 - Finger B is at the requested position.
gDT C: F inger C object detection status returns information on possible object contact fr om Finger C.
l 0x00 - Finger C is in motion (only meaningful if gGTO = 1). l 0x01 - Finger C has stopped due to a contact while opening. l 0x02 - Finger C has stopped due to a contact while closing. l 0x03 - Finger C is at the requested position.
gDT S: Scissor object detection status returns information on possible object contact from scissor maneuver.
l 0x00 - Scissor is in motion (only meaningful if gGTO = 1). l 0x01 - Scissor has stopped due to a contact while opening. l 0x02 - Scissor has stopped due to a contact while closing. l 0x03 - Scissor is at the r equested position.
39
3-Finger Adaptive Robot GripperInstruction Manual
When a contact is detected, the corresponding axiswill stop unless one of these conditions is met: a new position command is requested in the opposite direction, the requested force level is increased or the rGTO bit is cleared and set again.
Warning
Resetting the contact detection repeatedly at high fr equency 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.
Caut ion
The object detection is pr ecise only to the or der of a few mm. In some circumstancesobject 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 successfulwithout object detection occurring. For this reason, use this feature with caution. In these applications the "Gripper is stopped" status of register gSTA is sufficient to proceed to the next step of the routine.
Register: FAULT STATUS Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbols Reserved (zeros) gFLT
gFLT: Fault status returns gener al error messages useful for troubleshooting.
l 0x00 - No fault (fault LED off) l Priority faults (fault LED off)
l 0x05 - Action delayed, activation ( reactivation) must be completed prior to renewed action. l 0x06 - Action delayed, mode change must be completed pr ior to continuing action. l 0x07 - The activation bit must be set prior to action.
l Minor faults (fault LED continuous red)
l 0x09 - The communication chip is not ready (may be booting). l 0x0A - Changing mode fault, interfer ence detected on Scissor (for less than 20 sec). l 0x0B - Automatic release in progr ess.
l Major faults (fault LED blinking red) - Reset is required.
l 0x0D - Activation fault, verify that no interference or other error occurred. l 0x0E - Changing mode fault, interfer ence detected on Scissor (for more than 20 sec). l 0x0F - Automatic release completed. Reset and activation is required.
Caut ion
Allmajor faults will require you to reset the Gripper (rACT bit == 0 then rACT bit == 1) which will initiate motion from the Gripper for the re­calibration procedure before recovering normal control of the Gripper. Beware of possible hazards caused by the Gripper motion.
Register: POSITION REQUEST ECHO (FINGER A IN INDIVIDUAL MODE) Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbols gPRA
gPRA: Echo of the requested position of the Gripper (rPRA), 0x00 is the minimum position (fully open) and 0xFF isthe maximum position (fully closed).
If commanding the Gripper in individual 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
Symbols gPOA
gPOA: Returns the actual position of the Gripper Finger A, 0x00 is the minimum position (fullyopen) and 0xFF is the maximum position (fullyclosed).
40
3-Finger Adaptive Robot GripperInstruction Manual
Register: FINGER A CURRENT) Address: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbols gCUA
gCUA: Returns a value that represents the Finger A with instantaneous current consumption from 0x00 to 0xFF.
Info
Curr ent consumption is approximately equal to 0.1 * gCUA (in mA).
Register: FINGER B POSITION REQUEST ECHO Address: Byte 6
Bits 7 6 5 4 3 2 1 0
Symbols gPRB
gPRB: Echo of the requested position of Finger B (r PRB), 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fullyclosed).
Register: FINGER B POSITION Address: Byte 7
Bits 7 6 5 4 3 2 1 0
Symbols gPOB
gPOB: Returns the actual position of the Gripper Finger B, 0x00 is the minimum position (fullyopen) and 0xFF is the maximum position (fullyclosed).
Register: FINGER B CURRENT Address: Byte 8
Bits 7 6 5 4 3 2 1 0
Symbols gCUB
gCUB: Returns a value that represents the Finger B with instantaneous current consumption from 0x00 to 0xFF.
Register: FINGER C POSITION REQUEST ECHO Address: Byte 9
Bits 7 6 5 4 3 2 1 0
Symbols gPRC
gPRC: Echo of the requested position of Finger C (rPRC), 0x00 is the minimum position (fully open) and 0xFF isthe maximum position (fullyclosed).
Register: FINGER C POSITION Address: Byte 10
Bits 7 6 5 4 3 2 1 0
Symbols gPOC
gPOC: Returns the actual position of the Gripper Finger C, 0x00 is the minimum position ( fully open) and 0xFF is the maximum position (fullyclosed).
Register: FINGER C CURRENT Address: Byte 11
41
3-Finger Adaptive Robot GripperInstruction Manual
Bits 7 6 5 4 3 2 1 0
Symbols gCUC
gCUC: Returns a value that represents the Finger C with instantaneous current consumption from 0x00 to 0xFF.
Register: SCISSOR POSITION REQUEST ECHO Address: Byte 12
Bits 7 6 5 4 3 2 1 0
Symbols gPRS
gPRS: Echo of the requested position of the scissor action (rPRS), 0x00 is the minimum position (fullyopen) and 0xFF is the maximum position
(fullyclosed).
Register: SCISSOR POSITION Address: Byte 13
Bits 7 6 5 4 3 2 1 0
Symbols gPOS
gPOS: Returns the actual position of the Gripper scissor action, 0x00 is the minimum position (fullyopen) and 0xFF is the maximum position
(fullyclosed).
Register: SCISSOR CURRENT Address: Byte 14
Bits 7 6 5 4 3 2 1 0
Symbols gCUS
gCUS: 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.
Figure 4.6.1 : Example of 3-Finger Adaptive Robot Gripper control logic.
42
3-Finger Adaptive Robot GripperInstruction Manual
4.7 MODBUS RTU communication protocol
The Robotiq 3-F inger Gripper can be controlled via RS485 or RS232 by using the Modbus RTU protocol. T his section is intended to provide guidelines for setting up a Modbus scanner that willadequately communicate with the Gripper.
For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus over serial line specification and implementation guide available at: http://www.modbus.org/docs/Modbus_over_serial_line_V1.pdf.
For debugging purposes, the reader is invited to download one of many free Modbus scanners, such as the CAS Modbus Scanner from Chipkin Automation Systems, which is available at: http://www.chipkin.com/cas-modbus-scanner.
Caut ion
The Adaptive Gripper register values are updated at a 100Hz frequency. It is therefore recommended to send commands with a minimum interval delay of 10ms. Note that the updated frequency may drop under some conditionswhere the r esponse time would be longer.
4.7.1 Connection setup
The following table describes the connection r equirements for controlling the Robotiq 3-Finger Gripper using the Modbus RT U protocol.
PROPRIETY VALUE
Physical Interface RS485-RS232
Baud Rate 115,200 bps
Data Bits 8
Stop Bit 1
Parity None
Number Notation Hexadecimal
Supported Functions Read Holding Registers (FC03)
Preset Single Register (F C06)
Preset Multiple Registers (FC16)
Exception Responses Not supported
Slave ID 0x0009 (9)
Robot Output / Gripper Input First Register 0x03E8 (1000)
Robot Input / Gripper Output First Register 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 fr om the first 2 Robotiq 3-Finger Adaptive Robot Gripper registers (byte 0 and byte 1) .
4.7.2 Read holding registers (FC03)
Function code 03 (FC03) is used for reading the status of the Gripper (robot input). Examplesof such data are Gripper Status, Object Status, Finger Position, etc.
Ex: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, Fault Status and Position Request Echo.
Request is:
where
09 03 07 D0 00 02 C5 CE
43
Response is an echo:
where
3-Finger Adaptive Robot GripperInstruction Manual
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0002 Number of registers requested (2)
C5CE Cyclic Redundancy Check (CRC)
09 03 04 E0 00 00 00 44 33
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
E000 Content of register 07D0
0000 Content of r egister 07D1
4433 Cyclic Redundancy Check (CRC)
4.7.3 Preset single register (FC06)
Function code 06 (FC06) is used to activate functionalities of the Gripper ( robot output). Examples of such data are Action Request, Velocity, Force, etc.
Ex: This message requests the initialization 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 (Preset Single Register)
03E8 Address of the register
0100 Written Value
0962 Cyclic Redundancy Check (CRC)
Response is an echo:
09 06 03 E8 01 00 09 62
where
BITS DESCRIPTION
09 SlaveID
06 Function Code 06 (Preset Single Register)
44
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.
Ex: This message requests to set Position Request, Speed and Force of the Gripper by setting register 0x03E9 (1001) and 0x03EA.
Request 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 Register)
03E9 Address of the first register
0002 Number of written registers
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
00E6 Value to write to register 0x03E9
3CC8 Value to write to register 0x03EA
EC7C Cyclic Redundancy Check (CRC)
Response is:
09 10 03 E9 00 02 91 30
where
BITS DESCRIPTION
09 SlaveID
10 Function Code 16 (Preset Multiple Register)
03E9 Address of the firstregister
0002 Number of written registers
9130 Number of data bytes to follow ( 2 registers x 2 bytes/register = 4 bytes)
4.7.5 Master read&write multiple registers (FC23)
Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of the Gripper (robot output) simultaneously. Examples of such data are Gripper Status, Object Status, F inger Position, etc. Action Requests are Speed, F orce, etc.
Ex: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, 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 00 02 04 00 E6 3C C8 00 FF
where
45
BITS DESCRIPTION
09 SlaveID
17 Function Code 23 (read and write multiple registers)
07D0 Address of the first requested register, read
0002 Number of registers requested (2), read
03E9 Addr ess of the first written register
0002 Number of registers to write (3) to
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
00E6 Value written to register 0x03E9
3CC8 Value written to register 0x03EA
00FF Cyclic Redundancy Check (CRC)
Response is:
09 17 04 E0 00 00 00 47 27
where
3-Finger Adaptive Robot GripperInstruction Manual
BITS DESCRIPTION
09 SlaveID
17 Function Code 23 (read and write multiple registers)
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
E000 Content of register 07D0
0000 Content of r egister 07D1
4727 Cyclic Redundancy Check (CRC)
Caut ion
The 3 Finger Adaptive Gripper register values are updated at a 200Hz frequency. It is thereforerecommended to send FC23 commands with a minimum interval delay of 5ms.
4.7.6 Modbus RTU example
This sectiondepicts the example given in section 4.6 when programmed using the Modbus RTU protocol. The example is typicalof a pick and place application. After activating the Gripper, the robot is moved to a pick-up location to grip an object. It moves again to a 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 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers to write to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
46
Response is:
where
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 Gripp er"
0000 Value wr itten to register 0x03E9
0000 Value written to register 0x03EA
72E1 CyclicRedundancy Check (CRC)
09 10 03 E8 00 03 01 30
BITS DESCRIPTION
09 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Step 2: Read Gripper status until th e activation is completed
Request is:
09 03 07 D0 00 01 85 CF
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first register
0001 Number of registers requested (1)
85CF Cyclic Redundancy Check (CRC)
Response (if the activation IS NOT completed):
09 03 02 11 00 55 D5
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
1100 Content of register 07D0 (GRIPPER STATUS = 0x11, OBJECT
55D5 CyclicRedundancy Check (CRC)
STATUS = 0x00): gACT = 1 for "Gripper Activation", gIMC = 1 for
"Activation in progress"
Response (if the activation IS completed):
47
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
3100 Content of register 07D0 (GRIPPER STATUS = 0x31, OBJECT
4C15 CyclicRedundancy Check (CRC)
Step 3: Move the robot to the pick-u p location
Step 4: Close t he Gripper at full speed and full force
Request is:
09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
3-Finger Adaptive Robot GripperInstruction Manual
09 03 02 31 00 4C 15
STATUS = 0x00): gACT = 1 for "Gripper Activation", gIMC = 3 for
"Activation an d mode chang e are completed"
where
Response is:
BITS DESCRIPTION
09 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of 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 Gripper",
rMOD=0 for "Go to Basic Mode" , rGTO = 1 for "Go to
Requ ested Position"
00FF Value wr itten to register 0x03EA (GRIPPER OPTIONS 2 = 0x00 and
POSITION REQUEST = 0xFF): rPRA = 255/255 for full closing of
theGripper
FFFF Value written to register 0x03EB (SPEED = 0xFF and FORCE = 0xFF):
full speed and full force
4229 Cyclic Redundancy Check (CRC)
09 10 03 E8 00 03 01 30
where
BITS DESCRIPTION
09 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
48
Step 5: Read Gripper status until th e grip 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 the first requested register
0008 Number of registers requested (8)
45C9 CyclicRedundancy Check (CRC)
Example of r esponse if the grip is not completed:
09 03 10 39 C0 00 FF 08 0F 00 08 10 00 08 0F 00 89 00 00 73 70
where
3-Finger Adaptive Robot GripperInstruction Manual
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 (GRIPPER STATUS = 0x39, OBJECT
STATUS = 0xC0): gSTA = 0 fo r "Gripper is in motion towards
requestedposition"
00FF Content of register 0x07D1 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tellsthat the
command was wellreceived 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
current is 150mA (these values willchange during motion)
0008 Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0x08)
1000 Content of register 0x07D4 (FINGER B CURRENT = 0x10, FINGER C
POSITION REQUEST ECHO = 0x00)
080F Content of register 0x07D5 (FINGER C POSITION = 0x08, FINGER C
CURRENT = 0x0F)
0089 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
7370 Cyclic Redundancy Check (CRC)
Example of r esponse if the grip is completed:
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
49
3-Finger Adaptive Robot GripperInstruction Manual
BITS DESCRIPTION
03 Function Code 03 (Read Holding Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
B9EA Content of r egister 0x07D0 (GRIPPER STATUS = 0xB9, OBJECT
STATUS = 0xEA): gSTA = 2 for "Gripp er is stopped. All fingers
stopped b efore requested position", gDTA = gDTB = gDTC = 2
for "Finger X h as stop ped due to a contact while clo sing"
00FF Content of register 0x07D1 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tellsthat the
command was wellreceived and that the GRIPPER STATUS is valid.
BC00 Content of register 0x07D2 (FINGER A POSITION = 0xBC, FINGER A
CURRENT = 0x00): the position of finger A is 188/255 and the motor
current is 0mA
00C1 Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0xC1)
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 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
4E17 CyclicRedundancy Check (CRC)
Step 6: Move the robot to the release locat ion
Step 7: Open the Gripper at full speed an d 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 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of 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
0000 Value written to r egister 0x03EA (GRIPPER OPTIONS 2 = 0x00 and
FFFF Value written to register 0x03EB (SPEED = 0xFF and F ORCE = 0xFF):
7219 Cyclic Redundancy Check (CRC)
GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper",
rMOD=0 for "Go to Basic Mode" , rGTO = 1 for "Go to Requested
Position"
POSITION REQUEST = 0x00): rPR = 0/255 for full open ing of t he
Gripper (partial opening would also be possible)
full speed and full force
Response is:
50
09 10 03 E8 00 03 01 30
where
BITS DESCRIPTION
09 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Step 8: Read g ripp er status un til 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 the first requested register
0008 Number of registers requested (8)
45C9 CyclicRedundancy Check (CRC)
3-Finger Adaptive Robot GripperInstruction Manual
Example of r esponse if the opening is not complet ed:
09 03 10 39 C0 00 00 B8 0B 00 BD 0E 00 BA 0B 00 89 00 00 10 85
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 (GRIPPER STATUS = 0x39, OBJECT
0000 Content of register 0x07D1 (F AULT STATUS = 0x00, POSITION
B80B Content of register 0x07D2 (FINGER A POSITION = 0xB8, FINGER A
00BD Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
00E0 Content of register 0x07D4 (FINGER B CURRENT = 0x0E, FINGER C
BA0B Content of register 0x07D5 (FINGER C POSITION = 0xBA, FINGER C
0089 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
STATUS = 0xC0): gSTA = 0 fo r "Gripper is in motion towards
requestedposition"
REQUEST ECHO = 0x00): the position request echo tellsthat the
command was wellreceived and that the GRIPPER STATUS is valid.
CURRENT = 0x0B): the position of finger A is 184/255 and the motor
current is 170mA (these values willchange during motion)
0x00, FINGER B POSITION = 0xBD)
POSITION REQUEST ECHO = 0x00)
CURRENT = 0x0B)
51
BITS DESCRIPTION
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
1085 Cyclic Redundancy Check (CRC)
Example of r esponse if the opening is completed:
09 03 10 F9 FF 00 00 07 00 00 06 00 00 06 00 00 89 00 00 34 8D
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)
F9FF Content of register 0x07D0 (GRIPPER STAT US = 0xF9, OBJECT
0000 Content of register 0x07D1 (F AULT STATUS = 0x00, POSITION
0700 Content of register 0x07D2 (F INGER A POSITION = 0x07, FINGER A
0006 Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0000 Content of register 0x07D4 (FINGER B CURRENT = 0x00, FINGER C
0600 Content of register 0x07D5 (FINGER C POSITION = 0x06, FINGER C
0089 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
384D CyclicRedundancy Check (CRC)
3-Finger Adaptive Robot GripperInstruction Manual
0x00, SCISSOR POSITION = 0x89)
STATUS = 0xFF): gSTA = 3 for "Gripper is stopped . All fin gers
reached requested positio n"
REQUEST ECHO = 0x00): the position request echo tellsthat the
command was wellreceived and that the GRIPPER STATUS is valid.
CURRENT = 0x00): the position of finger A is 7/255 and the motor
current is 0mA
0x00, FINGER B POSITION = 0x06)
POSITION REQUEST ECHO = 0x00)
CURRENT = 0x00)
0x00, SCISSOR POSITION = 0x89)
Step 9: Loop back to step 3 if other ob jects have to be gripped.
4.8 MODBUS TCP communication protocol
The Robotiq 3-F inger 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.
For a general introduction to Modbus TCP and to understand its differences from Modbus RTU, the reader is invited to r eview the information provided on the following website:
http://www.simplymodbus.ca/TCP.htm.
Caut ion
The Adaptive Gripper register values are updated at a 100Hz frequency. It is therefore recommended to send commands with a minimum interval delay of 10ms. Note that the updated frequency may drop under some conditionswhere the r esponse time would be longer.
4.8.1 Connection Setup
The following table describes the connection r equirement for controlling the Robotiq 3-F inger Gripper using the Modbus T CP protocol.
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3-Finger Adaptive Robot GripperInstruction Manual
CONNECT ION REQUIREMENT VALUE
Required protocol TCP/IP
Port 502
Gripper IP address Configurable (most Grippers are shipped with the 192.168.1.11 address)
Supported Functions Read Input Registers (F C04)
Preset Multiple Registers (FC16)
UnitID 0x0002 (2)
Robot Output / Gripper Input First Register 0x0000 (0000)
Robot Input / Gripper Output First Register 0x0000 (0000)
Each register (word - 16 bits) of the Modbus T CP pr otocol is composed of 2 registers (bytes – 8 bits) from the Robotiq 3-Finger Gripper. T he first Gripper output Modbus register (0x0000) is composed from the first 2 Robotiq 3-Finger Adaptive Robot Gripper registers (byte 0 and byte 1).
4.8.2 Read Input Registers (FC04)
Function code 04 (FC04) is used for reading the status of the Gripper (robot input). Examplesof such data are Gripper Status, Object Status, Finger Position, etc.
Ex: This message asks for registers 0x0000 ( 0000) to 0x0006 (0006) which contain all the robot input statuses except for the scissor axis.
Request is:
where
Response is:
where
01 00 00 00 00 06 02 04 00 00 00 06
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 06 Length
02 UnitID
04 Function 04 (Read input r egisters)
00 00 Address of the first register
00 06 Word count
01 00 00 00 00 0f 02 04 0c e9 00 00 00 06 06 06 8a 00 00 00 00
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 0f Length
02 UnitID
04 Function 04 (Read input r egisters)
0c The number of data bytes to follow
e9 00 00 00 06 06 06 8a 00 00 00 00 Data
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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 r egisters from 0x0000 (0000) to 0x0003.
Request 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 registers)
00 00 Address of the first register
00 03 T he number of registers to write
06 The number of data bytes to follow
09 00 00 64 00 ff Data
Response is:
01 00 00 00 00 06 02 10 00 00 00 03
where
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 06 Length
02 UnitID
10 Function 16 (Preset multiple registers)
00 00 Address of the first register
00 03 Number of written r egisters
4.8.4 Modbus TCP example
This sectiondepicts the example given in section 4.6 when programmed using the Modbus TCP protocol. T he example is typicalof a pick and place application. After activating the Gripper, the robot is moved to a pick-up location to grip an object. It moves again to a second location to release the gripped object.
Step 1: Activation Request
Request is:
33 9A 00 00 00 0D 02 10 00 00 00 03 06 01 00 00 00 00 00
where
54
Response is:
3-Finger Adaptive Robot GripperInstruction Manual
BITS DESCRIPTION
339A Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
10 Function 16 (Preset Multiple Registers)
0000 Address of the first register
0003 The number of registers to write to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0100 Value written to register 0x0000 ( ACTION REQUEST = 0x01 and
GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper"
0000 Value written to register 0x0001
0000 Value written to register 0x0002
33 9A 00 00 00 06 02 10 00 00 00 03
where
BITS DESCRIPTION
339A Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
10 Function 16 (Preset Multiple Registers)
0000 Address of the first register
0003 Number of written
Step 2: Read Gripper status until th e activation is completed
Request is:
45 33 00 00 00 06 02 03 00 00 00 01
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
04 Function 04 (Read Input Registers)
0000 Address of the first requested register
0001 Number of registers requested (1)
Response (if the activation is not completed):
55
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0005 Length
02 SlaveID
04 Function 04 (Read Input Registers)
02 Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
1100 Content of register 0x0000 (GRIPPER STATUS = 0x11, OBJECT
Response (if the activation is completed):
3-Finger Adaptive Robot GripperInstruction Manual
45 33 00 00 00 05 02 04 02 11 00
STATUS = 0x00): gACT = 1 for "Gripper Activation", gIMC = 1 for
"Activation in progress"
45 33 00 00 00 05 02 04 02 31 00
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0005 Length
02 SlaveID
04 Function 04 (Read Input Registers)
02 Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
3100 Content of register 0x0000 (GRIPPER STATUS = 0x31, OBJECT
Step 3: Move the robot to the pick-u p location
Step 4: Close t he Gripper at full speed and full force
Request is:
71 EE 00 00 00 0D 02 10 00 00 00 03 06 09 00 00 FF FF FF
where
STATUS = 0x00): gACT = 1 for "Gripper Activation", gIMC = 3 for
"Activation an d mode chang e are completed"
BITS DESCRIPTION
71EE Unique tr ansaction identifier (chosen r andomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
0000 Address of the first register
56
Response is:
where
3-Finger Adaptive Robot GripperInstruction Manual
BITS DESCRIPTION
0003 Number of 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 Gripper",
rMOD=0 for "Go to Basic Mode" , rGTO = 1 for "Go to
Requ ested Position"
00FF Value wr itten to register 0x03EA (GRIPPER OPTIONS 2 = 0x00 and
POSITION REQUEST = 0xFF): rPRA = 255/255 for full closing of
theGripper
FFFF Value written to register 0x03EB (SPEED = 0xFF and F ORCE = 0xFF):
full speed and full force
71 EE 00 00 00 06 02 10 00 00 00 03
BITS DESCRIPTION
71EE Unique tr ansaction identifier (chosen r andomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
10 Function 16 (Preset Multiple Registers)
0000 Address of the first register
0003 Number of written registers
Step 5: Read Gripper status until th e grip is completed
Request is:
77 6B 00 00 00 06 02 04 00 00 00 08
where
BITS DESCRIPTION
776B Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
04 Function 04 (Read Input Registers)
0000 Address of the first requested register
0008 Number of registers requested (8)
Example of r esponse if the grip is not completed:
77 6B 00 00 00 13 02 04 10 39 C0 00 FF 08 0F 00 08 10 00 08 0F 00 89 00 00
where
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3-Finger Adaptive Robot GripperInstruction Manual
BITS DESCRIPTION
776B Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0013 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
39C0 Content of register 0x0000 (GRIPPER STATUS = 0x39, OBJECT
STATUS = 0xC0): gSTA = 0 fo r "Gripper is in motion towards
requestedposition"
00FF Content of register 0x0001 (F AULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tellsthat the
command was wellreceived and that the GRIPPER STATUS is valid.
080F Content of register 0x0002 (FINGER A POSITION = 0x08, F INGER A
CURRENT = 0x0F): the position of finger A is 8/255 and the motor
current is 150mA (these values willchange during motion)
0008 Content of register 0x0003 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0x08)
1000 Content of register 0x0004 ( FINGER B CURRENT = 0x10, FINGER C
POSITION REQUEST ECHO = 0x00)
080F Content of register 0x0005 (FINGER C POSITION = 0x08, FINGER C
CURRENT = 0x0F)
0089 Content of register 0x0006 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000 Content of register 0x0007 (SCISSOR CURRENT = 0x00)
Example of r esponse if the grip is completed:
77 6B 00 00 00 13 02 04 10 B9 EA 00 FF BC 00 00 C1 00 00 BD 00 00 89 00 00
where
BITS DESCRIPTION
76B Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0013 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
B9EA Content of r egister 0x07D0 (GRIPPER STATUS = 0xB9, OBJECT
STATUS = 0xEA): gSTA = 2 for "Gripp er is stopped. All fingers
stopped b efore requested position", gDTA = gDTB = gDTC = 2
for "Finger X h as stop ped due to a contact while clo sing"
00FF Content of register 0x07D1 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tellsthat the
command was wellreceived and that the GRIPPER STATUS is valid.
BC00 Content of register 0x07D2 (FINGER A POSITION = 0xBC, FINGER A
CURRENT = 0x00): the position of finger A is 188/255 and the motor
current is 0mA
00C1 Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0xC1)
58
BITS DESCRIPTION
0000 Content of register 0x07D4 (FINGER B CURRENT = 0x00, FINGER C
BD00 Content of register 0x07D5 (FINGER C POSITION = 0xBD, FINGER C
0089 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
Step 6: Move the robot to the release locat ion
Step 7: Open the Gripper at full speed an d full force
Request is:
34 AB 00 00 00 0D 02 10 03 E8 00 03 06 09 00 00 00 FF FF
where
BITS DESCRIPTION
34AB Unique tr ansaction identifier (chosen r andomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of 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
0000 Value written to r egister 0x03EA (GRIPPER OPTIONS 2 = 0x00 and
FFFF Value written to register 0x03EB (SPEED = 0xFF and F ORCE = 0xFF):
3-Finger Adaptive Robot GripperInstruction Manual
POSITION REQUEST ECHO = 0x00)
CURRENT = 0x00)
0x00, SCISSOR POSITION = 0x89)
GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper",
rMOD=0 for "Go to Basic Mode" , rGTO = 1 for "Go to
Requ ested Position"
POSITION REQUEST = 0x00): rPR = 0/255 for full open ing of t he
Gripper (partial opening would also be possible)
full speed and full force
Response is:
34 AB 00 00 00 06 02 10 03 E8 00 03
where
BITS DESCRIPTION
34AB Unique tr ansaction identifier (chosen r andomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
10 F unction Code 16 (Preset Multiple Registers)
59
BITS DESCRIPTION
03E8 Address of the first register
0003 Number of written registers
Step 8: Read Gripper status until th e open ing 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)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0008 Number of registers requested (8)
3-Finger Adaptive Robot GripperInstruction Manual
Example of r esponse if the opening is not complet ed:
D6 05 00 00 00 0D 02 04 10 39 C0 00 00 B8 0B 00 BD 0E 00 BA 0B 00 89 00 00
where
BITS DESCRIPTION
D605 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
39C0 Content of register 0x07D0 (GRIPPER STATUS = 0x39, OBJECT
STATUS = 0xC0): gSTA = 0 fo r "Gripper is in motion towards
requestedposition"
0000 Content of register 0x07D1 (F AULT STATUS = 0x00, POSITION
REQUEST ECHO = 0x00): the position request echo tellsthat the
command was wellreceived 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
current is 170mA (these values willchange during motion)
00BD Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0xBD)
0E00 Content of register 0x07D4 (FINGER B CURRENT = 0x0E, FINGER C
POSITION REQUEST ECHO = 0x00)
BA0B Content of register 0x07D5 (FINGER C POSITION = 0xBA, FINGER C
CURRENT = 0x0B)
0089 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
60
BITS DESCRIPTION
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
Example of r esponse 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
where
BITS DESCRIPTION
D605 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
F9FF Content of register 0x07D0 (GRIPPER STATUS = 0x39, OBJECT
0000 Content of register 0x07D1 (F AULT STATUS = 0x00, POSITION
0700 Content of register 0x07D2 (F INGER A POSITION = 0x07, FINGER A
0006 Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0000 Content of register 0x07D4 (FINGER B CURRENT = 0x00, FINGER C
0600 Content of register 0x07D5 (FINGER C POSITION = 0x06, FINGER C
0089 Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0000 Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
3-Finger Adaptive Robot GripperInstruction Manual
0x00, SCISSOR POSITION = 0x89)
STATUS = 0xC0): gSTA = 0 fo r "Gripper is in motion towards
requestedposition"
REQUEST ECHO = 0x00): the position request echo tellsthat the
command was wellreceived and that the GRIPPER STATUS is valid.
CURRENT = 0x00): the position of finger A is 7/255 and the motor
current is 0mA
0x00, FINGER B POSITION = 0x06)
POSITION REQUEST ECHO = 0x00)
CURRENT = 0x00)
0x00, SCISSOR POSITION = 0x89)
Step 9: Loop back to step 3 if other ob jects have to be gripped.
4.8.5 Application with Universal Robots
This sectioncontains some additionalinformation relative to the communication between the Gripper and the Universal Robots model UR-5 and UR­10 using the Modbus T CP protocol.
Modbus TCP works with 16-bit registers, whereas the Adaptive Gripper is configured using 8-bit bytes. Therefore, you must compute the value for
each 16-bit register using two bytes. Also, the endianness is different for the Gripper than for the UR robots. This means that the first register is built using the following formula:
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) willtrigger the initialization routine and therefor e you should see the Gripper open and closeto reach its mechanical stops.
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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 willgive you the status of the Gripper.
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3-Finger Adaptive Robot GripperInstruction Manual
4.9 Control over Universal Robots with URCaps
The URCaps package contains many features allowing to program and control the 3-Finger Adaptive Robot Gripper.
l 3F Gripp er Act ivate no de
This node is used to add a Gripper Activate command. The command will initiate the activation sequence of the Gripper.
l 3F Gripp er Move node
This node is used to add a Gripper Move command. The node can make the Gripper move to a specific opening distance in a specificmode, and modify the speed and force applied by the Gripper.
l 3FObject Detected node
This node is used to add a command sequence if an object is detected/not detected by the Gripper.
4.9.1 3F Gripper Activate node
This node commands the activation sequence of the 3-Finger Adaptive Robot Gripper. If the user selectsthe Reset an d activate radio button, the Gripper willinitiate the activation sequence everytime the command is executed. If the user selects the Activate only radio button, the activation sequence willbe executed only if the Gripper is not already activated.
4.9.2 3F Gripper Move node
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3-Finger Adaptive Robot GripperInstruction Manual
Features
Feature Descriptio n User input
Position Gripper position requested Integer value from 0 to 255
l 0 = Open l 255 = Close
Speed Gripper speed requested Integer value from 0 to 255
l 0 = minimum l 255 = maximum
Force Gripper force applied by the Gripper Integer value from 0 to 255
l 0 = minimum l 255 = maximum
Basic Operation mode in which all fingers of the Gripper close, with fingers B and C
remaining parallel.
Pinch Operation mode in which all fingers of the Gripper close, with fingers B and C
travelling one towards the other.
Wide Operation mode in which all fingers of the Gripper close, with fingers B and C
travelling away one from the other.
Scissor Operation mode consisting in the lateral move of fingers B and C, each one
towards the other, while finger A remains still.
Complete gripper motion before performing next action
If selected, the Gripper completes its motion pr ior to executing the next action in the PolyScope program tree. Slower but safer action. If NOTselected, as soon as the Gripper starts moving, PolyScope executes the next action in the program tr ee. This allows the user to move the Gripper and robot at the same time.
Go to position Sends all node parameters (position, force and speed) to the Gripper; the
instruction is executed immediately.
4.9.3 3F Object Detected node
Radio button
Radio button
Radio button
Radio button
Checkbox
Button
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3-Finger Adaptive Robot GripperInstruction Manual
The 3F Object Detected node is prepackaged in an If statement. Selectingthe Detected radio button willaffect the node's name in the program tree and perform the actions following said node if an object is detected in the Gripper.
On the other hand, selecting the NOTdetected radio button will also affect the node's name accordinglyand perform the actions following the program node if no object has been detected in the Gripper.
4.9.4 Script functions
Below is the list of functions defined in the URCap. These functions interface with the Modbus client in order to facilitate the control of the Gripper.
There are two types of functions:blo cking and non-blo cking.
Blocking functionswill send commands to the Gripper and wait for their completion.
Non-blocking functions will send commands to the Gripper and allow the program to carry on with the execution of the subsequent instructions.
The _and_wait suffix differentiates both types of functions.
Info Note that the majority of the following functions can be used by calling their respective subprograms (except rq_is_motion_co mplete, rq_is_gripper_activat ed and rq_is_object_detected)
Function Name Functio n Description
rq_activate Sends the gripper activation command. If it is already activated, nothing happens. Program execution continues
before the end of the activation.
rq_activate_and_wait Activates the gripper and wait until the motion is over. If it is already activated, nothing happens.
rq_stop Stops the current motion (has no effect on activation/auto-release commands)
rq_reset Resets the activation bit. To move the gripper willneed to be activated again.
rq_auto_release_and_wait Slowlymoves the gripper to its maximum opened position. The gripper must be activated after this command.
rq_set_force Uses the argument as the force set point.
rq_set_speed Uses the ar gument as the speed set point
rq_open Requests the gripper to move to its fully opened position
rq_open_and_wait Moves the gripper to its fully opened position and wait until the motion is over
rq_close Requests the gripper to move to its fully closed position
rq_close_and_wait Moves the gripper to its fully closed position and wait until the motion is over
rq_move Requests the gripper to move to the position defined by the argument
rq_move_and_wait Moves the gripper to the position defined by the argument and wait until the motion is over
rq_set_basic_mode Sets the gripper in the basicmode. Refer to the gripper's manual.
rq_set_pinch_mode Sets the gripper in the pinch mode. Refer to the gripper's manual.
rq_set_wide_mode Setsthe gripper in the wide mode. Refer to the gripper's manual.
rq_set_scissor_mode Sets the gripper in the scissor mode. Refer to the gripper's manual.
rq_is_motion_complete Returns True if the gripper motion is complete .Otherwise it returns False.
rq_is_gripper_activated Returns True if the gripper is activated. Otherwise it r eturns F alse.
rq_is_object_detected Returns T rue if the gripper has detected an object. Otherwise it returns F alse.
rq_print_fault_code Prints the gr ipper's fault code in the UR log window
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3-Finger Adaptive Robot GripperInstruction Manual
4.10 Control over ROS
The Robotiq 3-F inger 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 F orce Torque Sensor), can be downloaded via
Robotiq's Github repository, provided by ros-industrial.
You can use Gazebo to visualize and simulate the 3-Finger Adaptive Gripper.
Contact ros@robotiq.com for support or further information.
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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.
67
6. Specifications
6.1 Technical dimensions
3-Finger Adaptive Robot GripperInstruction Manual
Figure 6.1.1 : Robotiq 3-Finger Adaptive Robot Gripper technical dimensions.
68
6.2 Mechanical specifications
Specificatio n 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) 22 lbs [10 kg]
Recommended Payload (Fingertip Grip)
Maximum Grip F orce (Fingertip Grip) 13.5 lbf [70 N]
Maximum Break Away For ce 2 lbf [100 N]
Maximum Closing Speed (Fingertip Grip) 4.3in/sec [110mm/sec]
1
0.6 friction coefficient between finger silicone and steel part, safety factor of 2.
1
3-Finger Adaptive Robot GripperInstruction Manual
5.5 lbs [2.5 kg]
Figure 6.2.1 : Maximum encompassing diameter
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3-Finger Adaptive Robot GripperInstruction Manual
Figure 6.2.2 : Actuation and Holding Forces available in a single finger.
Info
l The "Actuation Force" is the force that can be applied to an object by the motors of the Gripper while the "Break Away F orce" is the for ce
that the Gripper can sustain.
l Because the Gripper is self-locking, the Break Away Force is higher than the Actuation F orce (see Figure 6.2.1). l In Pinch Mode, Fingers B and C willforce against Finger A. As Finger A is locked, the pinch Actuation Force is the sum of the Actuation
Force from F ingers B and C, 20+20 = 40 N.
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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 F orce.
When doing a Fingertip Grip, the weight that can be lifted is defined by:
Where
l F is the force that is applied to the load by the Gripper. Note that at the fingertips, the maximum force that can be applied is when Fingers B and C
force against Finger A. In this case, the force can be up to twice the Maximum Actuation Force, so 40N.
l C
is the coefficient of friction between the fingertip pads and the load.
f
l S
is a safety factor to be determined by the robot integrator.
f
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3-Finger Adaptive Robot GripperInstruction Manual
6.3 Design and customization
Pads and Fingertips for the Robotiq 3-Finger Adaptive Robot Gripper can be customized to fit your gripping application. The following subsection details the design of standard Finger Pads, Palm Pads and Fingertips, information for custom designs are also provided. For a list of available parts to replace the various pads see section 8. Spare Parts, Kits and Accessories.
6.3.1 Finger pad replacement and customization
The Robotiq 3-F inger Adaptive Robot Gripper F inger 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. Spare Parts, Kits and accessories.
To assemble standard or custom Finger Pad :
1. Align the Pad on the correct emplacement, Proximal and Median Pads are of the same width, but not of the same height.
2. Fix each Pad with two (2) 4-40 x 1/4 , Z-200425 F lat Head Machine Screws, use low strength Loctite 222 on the screws.
Figure 6.3.1.1 : Assembly of the Median and Proximal Finger Pad (S-013 and S-014) to the Robotiq 3-Finger Adaptive Robot Gripper.
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3-Finger Adaptive Robot GripperInstruction Manual
See figure 6.3.1.2 for the Proximaland Median Pads thread patter n 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
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3-Finger Adaptive Robot GripperInstruction Manual
6.3.2 Palm pad replacement and customization
The Robotiq 3-F inger 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.
To assemble standard or custom Palm Pad:
1. Align the Palm Pad S-071 with the correct emplacement.
2. Fix the Palm Pad with four (4) 4-40 x 1/4, Z -200425 Flat Head Machine Screws and two (2) 4-40 x 3/8, Z-200431 Flat Head Machine Screws, use low strength Loctite 222 on the screws.
Figure 6.3.2.1 : Assembly of the Palm Pad (S-071) to the Robotiq 3-Finger Adaptive Robot Gripper.
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3-Finger Adaptive Robot GripperInstruction Manual
See figure 6.3.2.2 for the Palm Pad thread patter n for custom design.
Caut ion
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.
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6.3.3 Fingertip replacement and customization
The Robotiq 3-F inger Adaptive Robot Gripper F ingertip is a usable part meant for frequent change (maximum 1 Mio. cycles) that can be customized. The F ingertip S-016 is fixed to the Gripper Finger as shown in figure 6.3.3.1. For a list of available par ts see section 8. Spar e Parts, Kits and accessories.
To assemble standard or custom Fingertip:
1. Align the Fingertip S-016 with the correct emplacement.
2. Fix each F ingertip with two (2) 8-32 x 3/8 socket head cap screw ( SHCS Y-812), use medium strength Loctite248 on the screws.
Figure 6.3.3.1 : Assembly of the Fingertip (S-016) to the Robotiq 3- Finger Adaptive Robot Gripper Finger.
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See figure 6.3.3.2 for the Fingertip thread pattern for custom design.
Caut ion
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-F inger Adaptive Robot Gripper F ingers.
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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 ar e fully open in Wide Mode.
Info
Allvalues are approximate. Actual coordinates may vary according to fingertip type and various options pr esent on the Gripper.
Here is the approximate moment of inertia matrix for the 3-Finger Adaptive Gripper:
Here is the approximate position of the center of mass for the 3-Finger Adaptive Gripper:
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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 for ce) 36 W
Maximum RMS Supply Current (supply voltage at 24V) 1.5 A
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6.6 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 UniversalWrist. 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.
Figure 6.6.1.1 : Blank faceplate for the 3-F inger Gripper.
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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.
Figure 6.6.2.1 : Yaskawa SDA 5D/10D faceplate for the 3-Finger Gripper.
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3-Finger Adaptive Robot GripperInstruction Manual
6.6.3 Dimensions for custom coupling
Figure 6.6.3.1 shown below describes the standard wrist present on all 3-F inger 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.
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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 willensure:
l Correct functioning of your Gripper. l Validity of your warranty. l Proper lifetime for your Gripper.
Please visit support.robotiq.com for detailson maintenance operations.
Warning
Unless specified, any repairs done on the Gripper or its controller will be done by Robotiq.
Operation Daily Weekly Monthly Semiannu ally
(or 1 M cycles)
Ann ually
(or 2 M cycles)
Gripper Cleaning Dirty conditions Normal conditions
Applying Grease Dirty conditions Normal conditions
Periodic Inspection X
Finger Pad
Replacement
Gripper Palm
Replacement
Fingertipe
Replacement
1
1
1
X
X
X
Gear Replacement X
Overhaul
2
1
Replace pads before if wear isvisible.
2
Overhaul is done by Robotiq, please contact Robotiq Support.
X
Maintenance operations are for average nor mal usage of the Gripper, the maintenance intervals must be adjusted according to environmental conditionssuch as:
l Operating temperature l Humidity l Presence of chemical(s) l Presence of physical parts (debris, scraps, dust, gr ease etc.) l Contact resulting from operated parts (sharp or rough) l Dynamicsof the operation (accelerations)
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7.1 Gripper Cleaning
Maintenan ce in terval T oo ls you need Parts you n eed
Weeklyor dailyin dirty operating conditions
Info
The Robotiq 3-F inger Adaptive Robot Gripper is not waterproof, clean the Gripper with a dry towel.
Caut ion
Alwaysturn off robot and Gripper power supply before doing maintenance operations on the Gripper.
Procedu re
1. Insert the 2.0 mm precision screwdriver into the hole under the finger to open.
2. Rotate the screwdriver counter clockwise to open the finger.
3. Clean the Gripper with a dr y towel, remove all debr is, dirt and dust from the surface of the Gripper.
4. Visually inspect the Gripper and pay attention to any visible wear or damage.
5. Check Gripper Coupling to ensure a tight fit.
l 2.0 mm flat head precision screwdriver l Dry tissue or towel
3-Finger Adaptive Robot GripperInstruction Manual
None
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3-Finger Adaptive Robot GripperInstruction Manual
7.2 Applying Grease
Maintenan ce in terval T oo ls you need Parts you n eed
Monthly or weekly in dirty operatingconditions
Warning
Onlyapply grease on the gearing at the base of each finger, the finger medial and distal axes must never be greased.
Note
Alwaysturn 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).
2. When the finger is closed the finger base cogs are visible, clean excessgrease with a dry tissue or towel, then apply grease between the gear cogs (use the Mobilith SHC grease syringe provided by Robotiq).
3. Completely open the finger and then completelyclose the finger, this willallow the grease to spread.
4. Repeat opening and closingof the finger until the grease is spread evenlyon the gearing, remove any excessgrease. Excess grease may appear on the sides of the cogs.
5. Repeat operations 1 through 4 for every finger of the Adaptive Gripper.
l 2.0 mm flat head precision screwdriver l Dry tissue or towel
None
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7.3 Periodic Inspection
Maintenan ce in terval T oo ls you need Parts you n eed
Monthly
Note
Alwaysturn off robot and Gripper power supply before doing maintenance operations on the Gripper.
Procedu re
1. Remove the Gripper from the robot following schematicsin section 3.3 Mechanical connections.
2. Clean the Gripper following instructions in 7.1 Gripper cleaning.
3. Inspect the Gripper :
a. Finger movement must be symmetric and fluid:
i. Test the return movement by pushing open the fingers, the fingers must come back to their initial position on their own.
ii. Test the general movement of the fingers by actuation via the screwdriver insertion hole in the chassis.
b. Finger pad wear must not affect gripping, if wear is visible and affects movement, change finger pad(s). See section 7.4 Finger Pad
Replacement.
c. Check for any collisiondamage, 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 initialorientation of your Gripper.
l 2.0 mm flat head precision screwdriver l Dry tissue or towel
3-Finger Adaptive Robot GripperInstruction Manual
None (unless damage is detected)
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7.4 Finger Pad Replacement
Maintenan ce in terval T oo ls you need Parts you n eed
1 M cyclesor when wear is visible
See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts.
Note
Alwaysturn off robot and Gripper power supply before performing maintenance operations on the Gripper.
Procedu re
1. Remove the Gripper from the robot following schematicsin section 3.3 Mechanical connections.
2. Clean the Gripper following instructions in 7.1 Gripper cleaning.
3. Remove the F inger Pads as described in section 6.3.1 Finger Pad.
4. Clean the fingers of any debris or residue.
5. Fix the new Finger Pads (custom or standard) as instructed in section 6.3.1 Finger Pad.
l 2.0mm precision flat head screwdriver. l Dry tissue or towel. l Philips screwdriver.
(To change pads on all 3 fingers)
l Three (3) Robotiq 3-Finger Adaptive Robot
Gripper Finger Median Pads.
l Three (3) Robotiq 3-Finger Adaptive Robot
Gripper Finger ProximalPads.
l Twelve (12) 4-40 X 1/4 Flat Head Machine
Screws (Philips, zinc coated).
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3-Finger Adaptive Robot GripperInstruction Manual
7.5 Gripper Palm Replacement
Maintenan ce in terval T oo ls you need Parts you n eed
1 M cyclesor when wear is visible
l 2.0mm precision flat head screwdriver. l Dry tissue or towel. l Philips screwdriver.
See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts.
Note
Alwaysturn off robot and Gripper power supply before performing maintenance operations on the Gripper.
Procedu re
1. Remove the Gripper from the robot following schematicsin section 3.3 Mechanical connections.
2. Clean the Gripper following instructions in 7.1 Gripper cleaning.
3. Remove the Palm Pad as described in section 6.3.2 Palm Pad.
4. Clean the Palm, especially the space under the Palm Pad of any debr is or residue.
5. Fix the new Palm Pad (custom or standar d) as illustrated in section 6.3.2 Palm Pad. Use low strength Loctite 222 on the screws.
l Palm pad S-071 ( from Robotiq). l Six(6) 4-40 X 1/4 Flat Head Machine
Screws (Philips, zinc coated).
l Low strength thread-locker (Loctite 220)
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3-Finger Adaptive Robot GripperInstruction Manual
7.6 Fingertip Replacement
Maintenan ce in terval T oo ls you need Parts you n eed
1 M cyclesor when wear is visible
l 2.0mm precision flat head screwdriver. l Dry tissue or towel. l 9/64 hex (Allen) key.
See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts.
Caut ion
Alwaysturn off robot and Gripper power supply before performing maintenance operations on the Gripper.
Procedu re
1. Remove the Gripper from the robot following schematicsin section 3.3 Mechanical connections.
2. Clean the Gripper following instructions in 7.1 Gripper cleaning.
3. Remove the F ingertip as described in section 6.3.3 Fingertip.
4. Clean the finger, including the space under the Fingertip of any debris or residue.
5. Fix the new Fingertip (custom or standard) as illustrated in section 6.3.3 F ingertip. Use medium strength Loctite 248 on the screws.
l Finger tip S-016 (from Robotiq). l Two (2) 8-32 X 3/8 Socket Head Cap
Screws.
l Medium strength thread-locker (Loctite
248).
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3-Finger Adaptive Robot GripperInstruction Manual
7.7 Gear replacement
Maintenan ce in terval T oo ls you need Parts you n eed
2 M cyclesor 1 year
l 2.0mm precision flat head screwdriver l Dry tissue or towel l Retaining ring (snap ring) pliers l Philips screwdriver
See Spare Parts, Kits and Accessories section to order Robotiq 3-Finger Adaptive Robot Gripper replacement parts.
Note
Alwaysturn off robot and Gripper power supply before performing maintenance operations on the Gripper.
Warning
Alwayswear protectiveglasseswhen doing maintenance work on the 3-Finger Adaptive Robot Gripper, especiallywhen manipulating snaprings.
Procedu re
1. Remove the Gripper from the robot following schematicsin section 3.3 Mechanical connections.
2. Clean the Gripper following instructions in 7.1 Gripper cleaning.
3. Remove the F ingers B and C by :
a. Removing the snap rings at the base of the fingers using the snap ring pliers. b. Gentlypull the finger base axis, beware the finger willcome off.
4. Remove Finger A by :
a. Removing the two (2) Palm Pad screws on each side of Finger A. b. Then r emove the proximal axis by holding Finger A and inserting a screwdriver or Allen key in the hole on either side of the Finger A,
beware the finger will come off.
5. On each F inger r equiring replacement, remove the gear by unscrewing the three (3) 4-40 screws (note the gear orientation), discard the 4- 40 screws and gear.
6. Place the new gear in the previous position with exact orientation.
7. Screw in the new gear using the new 4-40 screws, applying heavy strength Loctite 263.
l Replacement gear kit provided by Robotiq
(one kit for each Finger Gear to be replaced)
l Heavy strength thread-locker (Loctite 263)
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3-Finger Adaptive Robot GripperInstruction Manual
7.8 Overhaul
Maintenan ce in terval T oo ls you need Parts you n eed
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.
l None l None
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3-Finger Adaptive Robot GripperInstruction Manual
8. Spare Parts, Kits and Accessories
Spare par ts, kits and accessories list :
The following list is up to date at print time and is subject to change, check online for updates.
Item Descriptio n Ordering Number
Standard Gripper 3-Finger Adaptive Robot Gripper with black silicone
finger pads, right angle 5m communication cable, right angle 5 m power cable, USB configuration cable. Replace XXXX by one of the following communication protocol options :
l ENIP - EtherNet IP l MTCP - Modbus TCP/IP l ECAT - EtherCAT l DNET - DeviceNet l CANO - CANopen l M232 - Modbus RTU over 232 l M485 - Modbus RTU over 485 l PNET - PROFINET
AGS-001-XXXX
Blank Coupling Blank Coupling to fix on 3-Finger Adaptive Gripper
AGS-CPL-S175
Universal Wrist
Motoman Coupling Coupling for use between 3-Finger Adaptive
AGS-CPL-S101 Gripper UniversalWrist and Motoman SDA5D / SIA5D robots
Schunk Coupling Coupling for use between 3-Finger Adaptive
AGS-CPL-S102 Gripper UniversalWrist and Schunk FWA ToolChanger
ATICoupling Coupling for use between 3-Finger Adaptive
AGS-CPL-S103 Gripper UniversalWrist and ATI QC-21 ToolChanger
New Design of your custom coupling if not listed AGS-CPL-NEW
S-151 Adapter plate for 31.5 mm PCD1, four (4) M5
AGS-APL-151 screws, one (1) 5 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-152 Adapter plate for 56 mm PCD1, eight (8) M5
AGS-APL-152 screws, one (1) 4 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-153 Adapter plate for 40 mm PCD1, five (5) M6 screws,
AGS-APL-153 one (1) 6 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-155 Adapter plate for 40 mm PCD1, four (4) M6 screws,
AGS-APL-155 one (1) 6 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-156 Adapter plate for 80 mm PCD1, six(6) M8 screws,
AGS-APL-156 two (2) 8 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-157 Adapter plate for 50 mm PCD1, seven ( 7) M6
AGS-APL-157 screws, one (1) 6 mm M6 dowel pin. Meant for use on S-101 Coupling.
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3-Finger Adaptive Robot GripperInstruction Manual
Item Descriptio n Ordering Number
S-158 Adapter plate for 50 mm PCD1, four (4) M6screws.
AGS-APL-158 Meant for use on S-101 Coupling.
S-159 Adapter plate for 100 mm PCD1, ten (10) M8
AGS-APL-159 screws, two (2) 8 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-160 Adapter plate for 55 mm PCD1, four (4) M4 screws,
AGS-APL-160 two (2) 6 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-161 Adapter plate for four (4) M6 screws on 63 mm
AGS-APL-161 PCD1, two ( 2) 6 mm M6 dowel pin on
61.4mmPCD1. Meant for use on S-101 Coupling.
S-163 Adapter plate for seven (7) M5 screws on 31.5 mm
AGS-APL-163 PCD1, one (1) 5 mm M6 dowel pin. Meant for use on S-101 Coupling.
S-164 Adapter plate for eight ( 8) M5 screws on 31.33 mm
AGS-APL-164 PCD1, one (1) 5 mm M6 dowel pin.
S-165 Adapter plate for three ( 3) M3 screws on 33 mm
AGS-APL-165 PCD1, two ( 2) 3 mm M6 dowel pin.
S-166 Adapter plate for six (6) M5 screws on 39 mm
AGS-APL-166 PCD1, two ( 2) 4 mm slip fit dowel holes.
S-167 Adapter plate for six (6) M5 screws on 35 mm
AGS-APL-167 square patter n, one 20 mm passing hole (center).
New Design of your new custom adapter
AGS-APL-NEW
plate.
Power & serial cable 5 m power cable for 3-Finger Adaptive Robot
Gripper, right angle, M12 5-pins female, singleended. Also used for serial communication via RS232 orRS485.
DeviceNet cable 5m Fieldbus cable for 3-Finger Adaptive Robot
Gripper, right angle, M12 5-pins female, 5­pinsCombicon. Meant for use with DeviceNet.
CANopen cable 5m Fieldbus cable for 3-Finger Adaptive Robot
Gripper, right angle, M12 5-pins female, FemaleDB9. Meant for use with CANopen.
Ethernet cable 5 m Real-Time Ethernet communication cable for
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.
Meant for configuration of the 3-Finger Adaptive Robot Gripper communication par ameters and control via the Robotiq User Interface.
CBL-PWR- 2054
CBL-COM-2056-CB5
CBL-COM-2056-DB9
CBL-COM-2055
CBL-USB-2057
Finger Pads includes :
l one (1) Proximal Pad S-013, 6061 aluminium
body with black silicone cover.
AGS-PAD-S013/14
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3-Finger Adaptive Robot GripperInstruction Manual
Item Descriptio n Ordering Number
l one (1) Median Pad S-014, 6061 aluminium
body with black silicone cover.
l four (4) 4-40 X 1/4 Flat Head Machine Screws
(Philips, zinc coated)
Palm Pad includes:
l one (1) Palm Pad S-071, 6061 aluminium
body with black silicone cover.
l six( 6) 4-40 X 1/4 Flat Head Machine Screws
(Philips, zinc coated)
Finger Tip includes :
l one (1) Finger Tip S-016, 6061 aluminium
body with black silicone cover.
l two (2) 8-32 X 3/8 Socket Head Cap Screws
Finger includes :
l one (1) replacement Finger for the 3-Finger
Adaptive Robot Gripper, pads and gearincluded.
Rotating Finger Tip
2
includes :
l one (1) distal pivot l three (3) bushings l one (1) spring casing l one (1) torsion spring l two (2) 3/16'' x 3/4'' Socket Head Cap Screws
Gear includes :
l one (1) replacement bronze worm gear S-
200.
l one (1) wor m bushing Y-413. l three (3) 4-40 x 5/16 Flat Head Machine
Screws Y-902.
l two (2) snap rings Y-942 l grease syringe.
AGS-PAD-S071
AGS-PAD-S016
AGS-FIN-S/A09
AGS-FIN-002
AGS-GEAR-001
Grease syringe includes:
l 1g high viscositygrease syringe for worm
gears of the 3-Finger Adaptive Gripper
1
Pitch Circle Diameter
2
One 3-Finger Gripper requires two (2) rotating fingertips to work properly.
ACC-LUB-SHC1500
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9. Troubleshooting
If your Gripper is not working, check the following:
1. Check the blue LED on t he 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. Check the green L ED on the Gripper:
a. It's OFF: No network detected, check communication cables and network infrastructure (see specific pr otocol in section 3.4.2 and step 4
below).
b. It's BLINKING: Network detected, no communication established, go to step 4.
EtherNet family protocol must be connected via RJ45 while CanOpen and DeviceNet must be connected via their ownconnectors.
c.
It's ON : Network detected and communication is established, go to step 3.
3.
Check the red LED o n the Gripper:
a. It's OFF : No fault, go to step 5. b. It's BLINKING : Major fault occurred, reset (activate) the Gripper (see section 5.4.1).
c. It's ON : Automatic release or booting in process,wait until it's off, if blinking, reset is needed.
4. Communication & Networking issues:
a. Onlyuse one connection at a time, either USB or the industrial protocol. b. Ethernet family: Use the proper Ethernet options, Modbus TCP/IP and EtherNet IP require fixed IP, EtherCAT requires DHCP.
c. DeviceNet: Requires a separate power supply (see DeviceNet section).
3-Finger Adaptive Robot GripperInstruction Manual
Master communication devicemust use the same pr otocol and the same option settings as the controller for the Gripper.
d. After reprogramming communication options, wait until the red LED stops blinking to update the configuration.
5. Other p roblems:
a. If the system shuts down (blue LED goes off) when the Gripper activates, checkthe power supply, the power supply must meet the
following requirements.
b. When attempting to move the Gripper, make sure ''go to requested position'' (r GTO) is active (set to 1), in the User Interface, the Go to
Requested Position case must stay checked for the Gripper to move.
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Possible troubleshooting issues:
1. Grippers shut down or does not power up.
2. Gripper does not move under User Interface.
3. Cannot establish connection (Ether net family).
4. Cannot establish connection (CAN bus family).
5. Finger movement is erratic.
6. Gripping for ce changed.
Q: Grippers shu t down when working or do es n ot po wer up when connected.
A: Check the power supply specification in section 3.3. Your power supply must meet the minimum r equirements (36 W at 24 V) and the maximum operational voltage must not exceed 26 V.
Q: Gripper is not responding to commands (move) in the User Int erface.
A: Make sure your Gripper is activated and that the Activate button is selected before sending move request, when sending position request make sure the Go To Requested Position button is selected. For details please consult the User Interface section.
Q: Canno t establish connection under EtherNet / IP or Modbus TCP/IP.
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 willshow current address, default IP address for Robotiq Grippers are IP 192.168.1.11 with Gateway 255.255.255.0.
2. Use the same protocol options (fixed IP, auto-neg, full duplex, etc.) as shown in the Communication protocol panel. Set your Ethernet network card to use fixed addressesother than the Gripper address.
3. Set your master Ethernet network card to use fixed addressesother than the Gripper addr ess (for example use 192.168.1.10 if Gripper address is 192.168.1.11).
Q: Canno t establish connection under DeviceNet or CANopen.
A: Both protocolswill use the CAN bus, but make sure that DeviceNet is supplied with the adequate 24v supply as specified in DeviceNet communication protocol. Both protocols will use default address node 11. CANopen default baud rate is set to 1 Mbaud while DeviceNet is set to 250 kBaud.
Q: Finger movement is erratic or no t fluid .
A: Finger movement can be altered by debris, clean the Gripper and make sure no debris or fluid is present betweenthe finger phalanx and bar (r epeat for each finger).
Q: Gripping force chan ged sin ce first u sage.
A: Make sure the finger pads are clean of any lubricant and are in good condition. Note that gripping force varies with the grip type, encompassing grip willalways be stronger than fingertip gr ip.
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10. Warranty
Robotiq warrants the 3-Finger Adaptive Robot Gripper against defects in material and workmanship for a period of one year fr om the date of r eception when utilized as intended with the specified maintenance. Robotiq also war rants that this equipment will meet applicable specificationsunder normaluse.
Caut ion
l Usage respects the operating and storage conditions specified in section 3.2 l Usage under normal one-shift operation (40h a week) l Usage respect maintenance specified in section 7.
During the warranty period, Robotiq will r epair or replace any defective product, as well as verify and adjust the product free of charge if the equipment should need to be repaired or if the or iginal adjustment is erroneous. If the equipment is sent back for verification during the warranty period and found to meet all published specifications, Robotiq will charge standard verification fees.
The unit is considered defective when at least one of the following conditionsoccurs:
l The Gripper fingers cannot close or open; l The Gripper can't be switched among Operation Modes; l The Gripper feedback necessary for the r obot pr ogram is not accessible.
Parts that come into contact with the work piece and wearing par ts such as the finger and palm pads are not covered by the warranty.
Caut ion
The warranty will become null and void if the:
l Unit has been tampered with, repaired or worked on by unauthorized individuals. l Warranty sticker has been removed. l Screws, other than as explained in this guide, have been r emoved. l Unit has been opened other than as explained in this guide. l Unit serial number has been altered, erased, or removed. l Unit has been misused, neglected, or damaged by accident.
This warr anty is in lieu of all other warranties expressed, implied, or statutory, including, but not limited to, the implied warranties of merchantabilityand fitnessfor a particular purpose. In no event shallRobotiq be liable for special, incidental, or consequentialdamages.
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.
Exclusion
Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring obligation to make any changes whatsoever on units already purchased.
This warr anty excludes failure resultingfrom: improper use or installation, normal wear and tear, accident, abuse, neglect, fire, water, lightning or other acts of nature, causes external to the product or other factors beyond Robotiq's control.
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11. Contact
www.robotiq.com
Contact Us
Phone
1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside US and Canada
Fax
1-418-800-0046
Technical support and Engineering
extension 207
Sales
extension 122
3-Finger Adaptive Robot GripperInstruction Manual
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.
dof.robotiq.com
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ECDeclaration of Conformity
3-Finger Adaptive Robot GripperInstruction Manual
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