Robotiq Hand-E
for CB-Series Universal Robots
Original Notice
© 2018 Robotic Inc.
Instruction Manual
robotiq.com | leanrobotics.org
Revisions 7
1. General Presentation 9
1.1. Gripper nomenclature 10
1.2. Object picking 12
1.3. Setup and control 13
2. Safety 14
2.1. Warning 14
2.2. Intended Use 15
3. Installation 16
3.1. Scope of Delivery 17
3.1.1. Robotiq Hand-E Gripper URKit 17
3
3.2. Required Tools and Equipment 18
3.3. Environmental and Operating Conditions 19
3.4. Mechanical Installation 20
3.4.1. Installing the fingers/fingertips/holders on the Gripper 20
3.4.2. Installing the Gripper onto the robot 22
Single Gripper 22
Multiple Grippers 23
3.5. Electrical Setup 24
3.5.1. Pinout Interface 24
3.5.2. Coupling to controller 24
Single Gripper 27
Multiple Grippers 27
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 30
3.7. Installation for Universal Robots 32
3.8. URCap Package 33
3.8.1. Installing URCap Package 34
Single Gripper 34
Multiple Grippers 35
3.8.2. Uninstalling URCap Package 38
3.8.3. License Agreement 39
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4. Control 42
4.1. Overview 42
4.2. Gripper Register Mapping 44
4.3. Robot Output Registers &Functionalities 45
4.4. Robot Input Registers &Status 48
4.5. Picking Features 51
4.5.1. Force control 51
4.5.2. Re-Grasp 52
4.5.3. Object detection 53
4.5.4. Brake engagement 53
4.6. Control Logic Example 54
4.7. Modbus RTUCommunication 55
4.7.1. Connection Setup 56
4.7.2. Read holding registers (FC03) 57
4.7.3. Read input registers (FC04) 58
4.7.4. Preset multiple registers (FC16) 59
4.7.5. Master read & write multiple registers FC23 60
4.7.6. Modbus RTU example 62
4.8. Control over Universal Robots with URCaps 72
4.8.1. Gripper Dashboard 73
Overview 73
Single Gripper 73
Multiple Grippers 75
Features 75
4.8.2. Gripper Calibration menu and wizard 76
Features 78
4.8.3. Gripper Toolbar 80
Overview 80
Single Gripper 81
Multiple Grippers 82
Features 83
Gripper activation 83
Gripper operation window 84
Show/hide Gripper Toolbar 85
Robotiq Hand-E Gripper - Instruction Manual
4.8.4. Gripper Node 85
Command window 86
Features 88
Edit action screen 90
Single Gripper 90
Multiple Grippers 91
Features 92
Grip Check node 93
About 95
Error messages overview 96
Gripper Program Template 96
Advanced Gripper Functions 98
Single Gripper 98
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Multiple Grippers 101
4.8.5. Retro-compatibility of URCaps with legacy driver programs 104
4.9. Control over Universal Robots without URCaps 105
4.9.1. Gripper Toolbar 105
Overview 105
Features 105
Toolbar collapsed 105
Toolbar expanded 106
4.9.2. Demo Scripts 107
4.9.3. Custom Programs 108
4.9.4. Provided Variables and Functions 109
5. User Interface 112
6. Specifications 113
6.1. Technical dimensions 114
6.1.1. Couplings 115
6.1.2. Fingers and fingertips 123
Rack 123
Basic aluminum finger 124
Fingertip holder 124
Flat silicone fingertip 125
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Grooved fingertip 126
6.2. Mechanical specifications 127
6.2.1. Specifications: 127
Payload and force 128
Maximum payload/External force vs. Custom finger design 129
Friction grasp and form-fit grasp 130
Maximum payload by grasp type 130
6.2.2. Center of mass and tool center point 131
6.2.3. Moment and force limits 133
6.3. Electrical specifications 134
7. Maintenance 135
7.1. Gripper cleaning 136
7.2. Periodic inspection 138
7.3. Rack &pinion mechanism cleaning 139
8. Spare Parts, Kits and Accessories 140
9. Troubleshooting 143
10. Warranty andPatent 145
11. Contact 146
12. Harmonized Standards, Declarations and Certificates 147
12.1. Translation of original EC declaration of incorporation 147
12.2. Applied standards 148
12.3. Ingress Protection Certificate 149
Robotiq Hand-E Gripper - Instruction Manual
Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in
specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this
manual online at support.robotiq.com.
Revision 2018/09/11
l Updated Section 3 according to the robot used (CB-Series vs. e-Series)
l Updated Section 4
l Input &Output Registers
l Control over Universal Robots depending on the robot software used (PolyScope 3.6 and later version vs. PolyScope 5.0 and
later versions)
l Added LEDand move functions to the list of available functions
l Updated Section 8 with new spare parts, kits and accessories
7
Revision 2018/05/24
l Official release
Robotiq Hand-E Gripper - Instruction Manual
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Copyright
© 2018 Robotiq Inc. All rights reserved.
This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international
treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq.
Under copyright law, copying includes translation into another language or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by
Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the
edition date.
The information contained in this document is subject to change without notice.
Robotiq Hand-E Gripper - Instruction Manual
1. General Presentation
The terms "Gripper", "Robotiq Gripper", "Hand-E Gripper" and "Hand-E" used in the following manual all refer to the Robotiq
Hand-E Gripper. The Robotiq Hand-E Gripper is a robotic peripheral designed for industrial applications. Its design makes it a unique
robotic end-of-arm tool to quickly pick, place and handle a large range of parts of varying sizes and shapes.
Note
The following manual uses the metric system. Unless otherwise specified, all dimensions are in millimeters.
Note
The following section presents the key features of the Gripper and must not be considered as appropriate to Gripper
operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and understood
before any operation is attempted with theGripper.
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Robotiq Hand-E Gripper - Instruction Manual
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1.1. Gripper nomenclature
The Hand-E Gripper is a parallel gripper Its two fingers are actuated by a single motor.
Fig. 1-1: Robotiq Hand-E
Please refer to the Scope of Delivery section and Spare Parts, Kits and Accessories section for details on standard and optional parts.
The Hand-E basic gripper unit includes aluminum fingers, as shown in the figure above.
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The user can install fingers directly on the racks, or fasten fingertips to fingertip holders, which are in turn installed on the racks. Refer to
the Installing the Gripper onto the robot section for more information on how to integrate custom fingers and fingertips to Hand-E.
Fig. 1-2: Mounting of a finger on a rack
When ordered as a kit (please refer to the Scope of Delivery section), a fingertip starting kit is included (please refer to the Spare Parts,
Kits and Accessories section). These fingertips should be mounted onto fingertip holders.
Fig. 1-3: Mounting of a fingertip on a fingertip holder (example)
Tip
It is possible to customize your own fingers or fingertips. You can install custom fingers directly on the racks and the
fingertips on the fingertip holders.
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1.2. Object picking
The Hand-E Gripper has a single actuator for opening and closing the fingers. It also allows internal gripping.The fingers can pick
hollow parts from the inside by applying pressure with the outer surface of the fingers.
See the figure below for a representation and refer to the Picking Features section for details on the possible position commands of
your Gripper.
Fig. 1-4: Hand-E Gripper internal and external gripping.
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1.3. Setup and control
The Gripper is powered and controlled directly via a single device cable that carries a 24V DC supply and Modbus RTU communication
over RS-485. Please refer to the Electrical Setup section for wiring information and to the Control section for control of the Gripper
(software packages are available for control via some types of robotcontrollers).
Info
Robotiq Universal Controller is available when industrial communication protocols are required (other then Modbus RTU
over serial).
A gripper coupling is required for using Hand-E; the coupling will provide mechanical and electrical connectivity. Please refer to the
Mechanical Installation section for installation of the coupling, to the Technical dimensions section for technical drawings, and to the
Spare Parts, Kits and Accessories section for available couplings.
The Hand-E Gripper has an embedded object detection feature using indirect sensing methods. When picking an object with the "go
to" command, the Gripper status will allow you to know if an object is picked or not via a simple object detection bit (0 or 1). When an
object is detected, the Gripper will stop. If the object is being dropped, the Gripper will automatically close to keep the object until the
object is detected or until the position target from the "go to command" is reached. For details on object detection, please refer to the
Control section.
Robotiq Hand-E Gripper - Instruction Manual
2. Safety
Warning
The operator must have read and understood all of the instructions in the following manual before handling the Robotiq
Hand-E Gripper.
Info
The term "operator" refers to anyone responsible for any of the following operations on the RobotiqHand-E Gripper:
l Installation
l Control
l Maintenance
l Inspection
l Calibration
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l Programming
l Decommissioning
This documentation explains the various components of the Robotiq Hand-E Gripper and general operations regarding the whole
lifecycle of the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative examples; nonetheless, discrepancies may be observed between
those and the delivered product.
2.1. Warning
Info
Any use of the Gripper in noncompliance of these warnings is inappropriate and may cause injury or damage.
Warning
l The Gripper needs to be properly secured before operating the robot.
l Do not install or operate a Gripper that is damaged or lacking parts.
l Never supply the Gripper with an alternative current source.
l Make sure all cord sets are always secured at both ends, at the Gripper and at the robot.
l Always meet the recommended keying for electrical connections.
l Make sure no one is in the robot and/or Gripper path before initializing the robot's routine.
l Always meet the Gripper's payload specifications.
l Set the Gripper's pinch force and speed accordingly, based on your application.
l Keep fingers and clothes away from the Gripper while the power is on.
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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.
Risk assessment and final application:
The Robotiq Hand-E Gripper is meant to be used on an industrial robot. The robot, the Gripper and any other equipment used in the
final application must be evaluated via a thorough risk assessment. It is the robot integrator's duty to ensure that all local safety
measures and regulations are met. Depending on the application, there may be risks that require additional protection/safety
measures; for example, the work-piece the Gripper is manipulating might be inherently dangerous to the operator.
2.2. Intended Use
The Gripper unit is designed for gripping and temporarily securing or holding objects.
Caution
The Gripper is not intended for applying force against objects or surfaces.
The product is intended for installation on a robot or other automated machinery and equipment.
Info
Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety.
The unit should be used exclusively within the range of its technical data. Any other use of the product is deemed improper and
unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use.
Robotiq Hand-E Gripper - Instruction Manual
3. Installation
The following subsections will guide you through the installation and general setup of your Robotiq Hand-E Gripper.
Warning
Before installing:
l Read and understand the safety instructions related to the Hand-E Gripper.
l Verify your package according to the scope of delivery and your order.
l Have the required parts, equipment and tools listed in the requirements readily available
Warning
When installing:
l Meet the recommended environmental conditions.
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l Do not operate the Gripper, or even turn on the power supply, before it is firmly anchored and the danger zone is cleared.
The fingers of the Gripper may move and cause injury or damage.
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3.1. Scope of Delivery
3.1.1. Robotiq Hand-E Gripper URKit
Standard upon delivery
l Robotiq Hand-E Basic Gripper Unit: HND-GRP-001
l Hand-E Aluminum Finger Kit
l Screw kit
l USBto RS485 signal converter:ACC-ADT-USB-RS485
l Coupling for connection to the robot controller:GRP-CPL-062
Info
Please refer to the Spare Parts, Kits and Accessories section for a list of available couplings.
l Robotiq device cable: CBL-COM-1065-10-HF
Caution
The following are not included in the standard delivery:
l Options such as adapter plates or couplings for mounting on various industrial robots, fingertips or finger pads.
l Hardware required for options; accessories or fixtures for the Hand-E Gripper, unless specified.
l Power supply units, power supply wiring or fuses.
Info
When bought as a kit, the Hand-E Gripper will come in a package with the appropriate coupling, fingers/fingertips and
cabling. Please refer to the Spare Parts, Kits and Accessories section.
Robotiq Hand-E Gripper - Instruction Manual
3.2. Required Tools and Equipment
The following tools are required to install the Hand-E Gripper:
l 4 mm hex key to mount the Gripper onto its coupling.
l Metric hex key according to your coupling to mount the coupling onto the robot.
Optional tools if installing fingertip/holder kits: HND-FIN-ALU-KIT, HND-TIP-RUB-KIT, HND-TIP-VGR-KIT, HND-TIP-HLD-KIT
l 2,5 mm hex key
The following parts are required for setup :
l Power supply (see below).
l Fuse, see information below.
l Emergency stop is not provided, but its use is strongly advised.
The Gripper needs to be supplied by a DC voltage source. This power supply is not included with the Gripper. Required power supply
must match the Robotiq device. The following table shows the specifications with regards to the power supply required to operate the
Gripper and the optional Robotiq Controller.
SPECIFICATION VALUE
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Output voltage 24 V DC ±10%
Output current 1 A
Recommended power supply with internal protection, otherwise fusing is
Overcurrent
2 A fuse at 25°C [77°F]
required.
1
Table 3-1: Hand-E power supply requirements.
1
Suggested fuse is a: Phoenix Contact # 0916605 2 A thermal, use AWG #20 wiring.
Warning
If your power supply could exceed the specified regulation, over-voltage protection is required.
Robotiq recommends the use of the following power supplies:
l For the 1A output current: TDK-Lambda DPP Series, 100W Single Output DIN Rail Mount Power Supply: DPP30-24.
Tip
Optional Robotiq Universal Controller can use the same power supply.
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3.3. Environmental and Operating Conditions
CONDITION VALUE
Minimum storage/transit
temperature
Maximum storage/transit
temperature
Minimum operating
temperature
Maximum operating
temperature
Humidity (non-condensing) 20-80% RH
Vibration < 0.5G
Other IP 67
Table 3-2: Environmental and operating conditions of the Hand-E Gripper.
-30°C [-22°F]
60°C [140°F]
-10°C [14°F]
50°C [122°F]
Robotiq Hand-E Gripper - Instruction Manual
3.4. Mechanical Installation
3.4.1. Installing the fingers/fingertips/holders on the Gripper
The figures below list the material and tools needed to mount fingers or fingertips/holders onto the racks of the Hand-E Gripper.
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Fig. 3-1: Mounting the fingers on the racks
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Fig. 3-2: Mounting fingertips on holders (and then on the racks)
Robotiq Hand-E Gripper - Instruction Manual
3.4.2. Installing the Gripper onto the robot
Single Gripper
Use a coupling to attach the Gripper to the robot. Be sure to use the appropriate coupling for your robot model. If there is no coupling
for your robot, you can process a blank coupling or Robotiq can create a custom version for you. Some couplings may require an
additional adapter plate. To create your own coupling and/or adapter plate you can refer to the Couplings section. To see the details
of the available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section.
Here are the steps to follow to mount the Gripper to your robot (see figure below). Note that all screws must be locked in place using
medium strength threadlocker.
1. Screw the adapter plate or the coupling to the robot.
2. Screw the coupling to the adapter plate (if applicable).
3. Screw the Gripper onto its coupling.
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Fig. 3-3: Installing the Gripper to a robot using an adapter plate and a coupling.
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Multiple Grippers
When installing multiple grippers on one robot, every gripper must have its own coupling.
1. Install a mounting plate (not included) on the robot arm (AGC-APL-159-02).
2. Mount the grippers' couplings on the mounting plate using the provided M6 X 10mm screws.
3. Mount the grippers onto the coupling using the provided M5 X 35 mm screws.
Fig. 3-4: Dual Hand-E Gripper Configuration
Robotiq Hand-E Gripper - Instruction Manual
3.5. Electrical Setup
Power and communication are established with the Hand-E Gripper via a single device cable. The device cable provides a 24V power
supply to the Gripper and enables serial RS485 communication to the robot controller.
Info
RS485 signals (485+, 485- and 485 GND) are isolated from the main 24V power supply. GND can be connected to any other
ground reference as long as the voltage potential between the grounds does not exceed 250V. Grounding reference is at the
user's discretion.
3.5.1. Pinout Interface
The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface.
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Info
The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6.
3.5.2. Coupling to controller
An optional Robotiq Universal Controller may be used between the Gripper and the network/robot controller if fieldbus
communication is required.
If a Robotiq Universal Controller is used, please refer to the instruction manual of the Robotiq Universal Controller. The figure below
represents the wiring scheme of the Hand-E Gripper with device cable, power supply, fuse (refer to the Required Tools and Equipment
section) and grounding.
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Fig. 3-5: Robotiq Hand-E with pigtail cable and device cable wiring scheme.
Caution
Use proper cabling management. Make sure to leave enough slack in the cabling to allow movement of the Gripper along all
axes without pulling out the connectors. Always protect the controller side (robot side) connector of the cable with a strain
relief cable clamp.
The figure below illustrates the Hand-E Gripper pigtail connector from the coupling (GRP-CPL-062 or AGC-CPL-XXX-002), the device
cable on the robot side (CBL-COM-2065-10-HF) and their associated pinout.
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Table 3-3: Pinout of the Hand-E Gripper pigtail and device cable.
If additional cables are used, suggested cable specifications are as follows:
Power supply, fusing
l minimum #22 AWG TEW, 300 V or 600 V
RS485 signal
l minimum #24 AWG TEW, 300 V or 600 V
l A and B signals must be balanced at 120 Ohms
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Single Gripper
Prior to any software installation on Universal Robots, connect the white, blue and bare wires to the Robotiq RS-485 signal converter
(ACC-ADT-RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot
controller.
Fig. 3-6: Hand-E Gripper wiring to Universal Robots controller.
Multiple Grippers
It is possible to connect and control up to four grippers on the same UR robot. Only one USB to RS485 converter (ACC- ADT-USBRS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable
(CBL-COM-2065-10-HF) that connects to the RS485 to RS232 converter.
Fig. 3-7: Multiple grippers wiring.
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Robotiq Hand-E Gripper - Instruction Manual
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Robotiq Hand-E Gripper - Instruction Manual
3.6. Testing the Gripper with the Robotiq User Interface (RUI)
Once installed and properly secured, your Robotiq Hand-E Gripper should be tested with the Robotiq User Interface test software
using the provided USB converter. To do so :
1
Follow the instructions to install the Robotiq User Interface, or RUI (refer to the instruction manual of the RUI)
Use the provided RS-485 to USB converter ACC-ADT-USB-RS485 (refer to the figure below) to plug into a PC with the Robotiq
User Interface installed.
2
Power up your Gripper with the previously recommended power supply.
3
Execute the RUI software and select ''auto-connect''on the connection screen.
4
You are now connected to your Gripper; you can click "activate" to begin using the Gripper.
Caution
The Activate command will initiate movement of the Gripper for the auto-calibration procedure. Do not interfere with the
Gripper. Be sure you have met robot safety measures.
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Fig. 3-8: RS-485 to USB converter ACC-ADT-USB-RS485 pinout.
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Fig. 3-9: Wiring possibilities of the USB to RS-485 converter.
Tip
With the RUI controlling the Gripper, you can go to the "view" menu to see input and output register values to further your
understanding on how to command the Gripper. You can also test gripping your parts with various speed and force settings.
Please refer to the Control section for details.
Robotiq Hand-E Gripper - Instruction Manual
3.7. Installation for Universal Robots
The table below shows which Robotiq software to use with your Universal Robots controller. If you are using a CB3 or CB3.1 controller,
it is recommended to use the Hand-E Gripper URCaps Package.
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Robotiq Software
Driver Package
(includes Gripper toolbar)
Robotiq Grippers URCap Package 1.2.1
and earlier versions
Robotiq Grippers URCap Package 1.3.0
Robotiq Grippers URCap Package 1.3.1
and later versions
Table 3-4: Compatibility between Robotiq software and robot controller
Refer to the URCap Package section for the installation of the UR software package for Hand-E.
Caution
The robot's PolyScope version must be 3.5 or later in order to install the URCap.
Controller
CB1
Incompatible
Incompatible Incompatible
Incompatible Incompatible
Incompatible Incompatible
Controller
CB2
Compatible Compatible Compatible Incompatible
Controller
CB3
Compatible Compatible Incompatible
Incompatible Compatible Incompatible
Incompatible Compatible Compatible
Controller
CB3.1
e-Series
Controller
Caution
Prior to use over Universal Robots, adjust the payload and the center of gravity in the Installation tab (refer to the Mechanical
specifications section).
Caution
Please refer to the Installing URCap Package section to configure the grippers properly before controlling and programming
them.
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3.8. URCap Package
Robotiq provides you with a Universal Robots URCap package that enables direct serial communication to your UR controller.
Info
To get the URCap package for your URcontroller, browse to Hand-E's support product page.
Make sure the Hand-E Gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed
information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal
Robots controller is compatible with the package (refer to the Installation for Universal Robots section).
Caution
The robot's PolyScope version must be 3.5 or later in order to install the URCap.
The Gripper’s URCap package contains:
l The URCap for the Gripper;
l The Gripper toolbar;
l The Gripper node.
Tip
For other robots, where no driver package is available, we recommend the use of the Robotiq Universal Controller which
allows fieldbus communication. Available communication protocols with this Universal Controller are:
l Modbus TCP
l EtherNet IP
l EtherCAT
l PROFINET
l DeviceNET
l CANopen
For details on controlling the Gripper, please refer to the Control section.
Info
Please refer to the Control section for detailed information on how to program using the URCap package.
Robotiq Hand-E Gripper - Instruction Manual
3.8.1. Installing URCap Package
Single Gripper
Make sure the Hand-E Gripper is properly mounted to the robot arm. Refer to the Mechanical Installation section for detailed
information on the mechanical installation. Before proceeding with the installation of the URCap package, make sure your Universal
Robots controller is compatible with the package (refer to the Installation for Universal Robots section).
Follow this procedure to install the Hand-E Gripper URCap package:
l Make sure that your PolyScope version is up-to-date and that your
Universal Robots controller is compatible with the Gripper’s URCap
package.
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l Browse to support.robotiq.com and click on the Hand-E Gripper
product page.
l Download the RARfile and extract its content on the root of a blank
USB stick.
l Insert the USB stick in the UR teach pendant or controller.
l Go to Setup Robot.
l Tap URCaps Setup.
Tip
If you wish to know what version of PolyScope you are using, go to the PolyScope home page and tap the About button. A
window containing the Universal Robots software version will pop up.
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l Tap the plus button (+) to add the Gripper’s URCaps package.
l Open Robotiq_Grippers-X.X.X.urcap from the USBstorage device.
l Restart PolyScope to complete the URCap installation. By doing so, you
accept the License Agreement that is detailed in the URCap information
text box (please refer to the License Agreement section below).
l When PolyScope reopens, the Gripper toolbar will appear on thescreen.
Multiple Grippers
It is possible to connect and control up to four grippers on the same UR robot.
Only one USB to RS485 converter (ACC- ADT-USB-RS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the
grippers pigtails to one 10m cable (CBL-COM-2065-10-HF) that connects to the USB to RS485 converter.
Robotiq Hand-E Gripper - Instruction Manual
Fig. 3-10: Wiring for multiple grippers.
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When installing multiple grippers on one UR robot, their gripper ID must be set properly. To do so, perform the following steps for
each Gripper.
l Connect only one gripper at the time using the M12 splitter.
l From the PolyScope home page, go to Program Robot and then
tap the Installation tab.
l Tap on Gripper.
l Select the Dashboard menu.
l Tap the Scan button to detect Grippers.
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l Change the Gripper ID to the desired one.
l Make sure it is different from the other Gripper IDs.
l Gripper ID is saved to the Gripper's internal memory. ID will be
kept at all time.
l Click on Activate to activate the Gripper.
l Perform the same routine for all grippers, if applicable, connecting
only one at the time.
Caution
Make sure all grippers have different IDs. With their
factory settings, all grippers have Gripper IDset to 1. If
you have more than one gripper connected with the same
ID, communication issues will arise.
l Once all grippers IDs have been set, connect them all to the
M12splitter.
l Go back to the Configure tab and confirm that all grippers are
recognized and can be controlled.
Robotiq Hand-E Gripper - Instruction Manual
3.8.2. Uninstalling URCap Package
If you wish to uninstall the Hand-E Gripper URCap, follow this procedure:
l Go to Setup Robot.
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l Tap URCaps Setup.
l In the Active URCaps text box, tap the Gripper URCap.
l The Gripper URCap should be highlighted.
l Tap the minus button (-) to uninstall the URCap.
l Restart PolyScope to complete the uninstallation process.
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3.8.3. License Agreement
END-USER LICENSE AGREEMENT
YOU SHOULD CAREFULLY READ THE FOLLOWING AGREEMENT BEFORE USING THE Software (as this term is hereinafter
defined). Using the Software indicates your acceptance of the agreement. If you do not agree with it, you are not authorized to use the
Software.
IMPORTANT-READ CAREFULLY: This 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 includes
any “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 install the Software.
1. Definition.
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Robotiq Hand-E Gripper - Instruction Manual
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Robotiq Hand-E Gripper - Instruction Manual
41
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Robotiq Hand-E Gripper - Instruction Manual
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4. Control
Info
Unless specified, all values in this section are in hexadecimal values.
4.1. Overview
The Robotiq Hand-E Gripper is controlled directly via Modbus RTU using a RS485 signal. It can also be controlled via an optional
Robotiq Universal Controller using an industrial protocol (refer to the instruction manual of the Robotiq Universal controller). The
programming of the Gripper can be done with the Teach Pendant of the robot or by offline programming. The communication method
used to control the Hand-E Gripper does not change the control logic or register setups described in the following subsections.
Tip
Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper, like object
detection and forcecontrol.
Since the Robotiq Hand-E Gripper has its own embedded controller, high-level commands, such as "Go to requested position" are
used to control it.
Info
The operator can:
- Control force, speed and position of the Gripper fingers.
- Finger movement is always synchronized, movement is initiated via a single "Go to requested position"command.
- Parallel or encompassing grip is performed automatically.
- A built-in object detection feature is available; the user can be notified after an object is picked once the "Go to" command
has been initiated. The feature also works for lost or dropped objects, and the user can be alerted if an object is dropped
after being detected.
- Engage directional (open or close) auto-release for emergencies.
Control using registers
The Gripper has an internal memory that is shared with the robot controller. One part of the memory is for the robot output;gripper
functionalities. The other part of the memory is for the robot input; gripper status. Two types of actions can then be performed by the
robot controller :
1. Write in the robot output registers to activate functionalities;
2. Read in the robot input registers to get the status of the Gripper.
The Gripper Register Mapping section will map the different registers used to control the Gripper or to read its status while theRobot
Output Registers &Functionalities section will detail the output (write) register functions, and the Robot Input Registers &Status section
will detail the input (read) register status. The figure below is a representation of the memory and the control logic of the Gripper.
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Fig. 4-1: Hand-E control logic overview
Control using Universal Robots packages
Robotiq provide Universal Robots packages to be used with URCaps (require controller CB3 or higher)
Please refer to the Control section for instructions on how to use the Gripper URCap; this method will provide you with a Gripper
Toolbar to test and a Gripper node to program via the URCaps tab.
Please refer to the Control over Universal Robots without URCaps section on how to use without URcaps, this method will provide you
with a similar Gripper Toolbar but the robot program will be built using subprograms and scripts.
Robotiq Hand-E Gripper - Instruction Manual
4.2. Gripper Register Mapping
Register mapping
Caution
Byte numbering starts at zero and not at 1 for the functionalities and status registers.
Register Robot Output / Functionalities Robot Input / Status
Byte 0 ACTIONREQUEST GRIPPERSTATUS
Byte 1 RESERVED RESERVED
Byte 2 RESERVED FAULTSTATUS
Byte 3 POSITIONREQUEST POSREQUESTECHO
44
Byte 4 SPEED POSITION
Byte 5 FORCE CURRENT
Byte 6 to 15 RESERVED RESERVED
Table 4-1: Registers of the Hand-E Gripper.
Robotiq Hand-E Gripper - Instruction Manual
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4.3. Robot Output Registers &Functionalities
Register: ACTIONREQUEST
Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols Reserved rARD rATR rGTO Reserved rACT
rACT
First action to be made prior to any other actions; the rACT bit will activate the Gripper. Clear the rACT bitto reset the Gripper and clear
any fault status.
l 0x0 - Deactivate Gripper.
l 0x1 - Activate Gripper (must stay on after activation routine is completed).
Warning
When setting rACT (rACT ==1), the Gripper will begin movement to complete its activation feature.
Info
Power loss will set rACT (rACT == 1); the rACTbit must then be cleared (rACT == 0), then set again to allow operation of the
Gripper.
Caution
The rACT bit must stay on afterwards for any other action to be performed.
rGTO
The "Go To" action moves the Gripper fingers to the requested position using the configuration defined by the other registers, rGTO
will engage motion while bytes 3, 4 and 5 will determine aimed position, force and speed. The only motions performed without the
rGTO bit are activation and automatic release routines.
l 0x0 - Stop.
l 0x1 - Go to requested position.
rATR
Automatic Release routine action slowly opens the Gripper fingers until all motion axes reach their mechanical limits. After all motions
are 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.
Caution
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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.
Automatic release requires the rACT to be cleared (rACT == 0) then set (rACT == 1).
rARD
Auto-release direction. When auto-releasing, rARD commands the direction of the movement. The rARD bit should be set prior to or at
the same time as the rATR bit, as the motion direction is set when the auto-release is initiated.
l 0x0 - Closing auto-release
l 0x1 - Opening auto-release
Register: GRIPPER OPTIONS
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
Register: GRIPPER OPTIONS 2
Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
Register: POSITIONREQUEST
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol rPR
This register is used to set the target position for the Gripper's fingers. The positions 0x00 and 0xFF correspond respectively to the fully
opened and fully closed mechanical stops. For detailed finger trajectory, please refer to the Specifications section.
l 0x00 - Open position, with 50 mm opening
l 0xFF - Closed
l Opening / count: ≈0.2 mm for 50 mm stroke
Info
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47
The activation will allow the Gripper to adjust to any fingers/fingertips. No matter what is the size and/or shape of the
fingers/fingertips, 0 will always be fully opened and 245 fully closed, with a quasi-linear relationship between the two values.
Register: SPEED
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol rSP
This register is used to set the Gripper closing or opening speed in real time, however, setting a speed will not initiate a motion.
l 0x00 - Minimum speed
l 0xFF - Maximum speed
l
Register: FORCE
Address: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbol rFR
The force setting defines the final gripping force for the Gripper. The force will fix the maximum current sent to the motor . If the current
limit is exceeded, the fingers stop and trigger an object detection notification. Please refer to the Picking Features section for details on
force control.
l 0x00 - Minimum force
l 0xFF - Maximum force
Info
Register bytes 6 to 15 are reserved and should be set to 0.
Robotiq Hand-E Gripper - Instruction Manual
4.4. Robot Input Registers &Status
Register: GRIPPERSTATUS
Address: Byte 0
48
Bits 7 6
Symbols gOBJ gSTA
5 4
3 2 1 0
gGT
O
Reserved
gACT
Activation status, echo of the rACT bit (activation bit).
l 0x0 - Gripper reset.
l 0x1 - Gripper activation.
gGTO
Action status, echo of the rGTO bit (go to bit).
l 0x0 - Stopped (or performing activation / automatic release).
l 0x1 - Go to Position Request.
gSTA
gAC
T
Gripper status, returns the current status and motion of the Gripper fingers.
l 0x00 - Gripper is in reset (or automatic release) state. See Fault Status if Gripper is activated.
l 0x01 - Activation in progress.
l 0x02 - Not used.
l 0x03 - Activation is completed.
gOBJ
Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0.
l 0x00 - Fingers are in motion towards requested position. No object detected.
l 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected opening.
l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected closing.
l 0x03 - Fingers are at requested position. No object detected or object has been loss / dropped.
Caution
In some circumstances the object detection feature may not detect an object even if it is successfully grasped. For instance,
picking up a thin object may be successful without the object detection status being triggered. In such applications, the
"Fingers are at requested position" status of register gOBJ is sufficient to proceed to the next step of the routine.
Robotiq Hand-E Gripper - Instruction Manual
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Tip
Checking for the correct position of the fingers (byte 4), as well as object detection (byte 0, bit 6 & 7) before proceeding to the
next step of a routine is a more reliable method than object detection or finger position alone.
Register: RESERVED
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
Register: FAULTSTATUS
Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbols kFLT gFLT
gFLT
Fault status returns general error messages that are useful for troubleshooting. Fault LED (red) is present on the Gripper chassis, LED
can be blue, red or both and be solid or blinking.
l 0x00 - No fault (solid blue LED)
l Priority faults (solid blue LED)
l 0x05 - Action delayed; the activation (re-activation) must be completed prior to perform the action.
l 0x07 - The activation bit must be set prior to performing the action.
Minor faults (solid red LED)
l 0x08 - Maximum operating temperature exceeded (≥ 85 °C internally); let cool down (below 80 °C).
l 0x09 - No communication during at least 1 second.
Major faults (LED blinking red/blue) - Reset is required (rising edge on activation bit (rACT) needed).
l 0x0A - Under minimum operating voltage.
l 0x0B - Automatic release in progress.
l 0x0C - Internal fault, contact support@robotiq.com
l 0x0D - Activation fault, verify that no interference or other error occurred.
l 0x0E - Overcurrent triggered.
l 0x0F - Automatic release completed.
Info
While booting, status LEDwill be solid blue/red.
Robotiq Hand-E Gripper - Instruction Manual
kFLT
please refer to your optional controller manual (input registers and status).
Register: POSITIONREQUESTECHO
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol gPR
gPR
Echo of the requested position for the Gripper, value between 0x00 and 0xFF.
l 0x00 - Full opening.
l 0xFF - Full closing.
Register: POSITION
50
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol gPO
gPO
Actual position of the Gripper obtained via the encoders, value between 0x00 and 0xFF.
l 0x00 - Fully opened.
l 0xFF - Fully closed.
Register: CURRENT
Adress: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbol gCU
gCU
The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value
read inmA.
Tip
Built-in features like object detection and force control use the fingers' electrical current readings. The user does not need to
create these features.
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4.5. Picking Features
As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is
the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes key features in object
picking applications:
l Force control
l Re-grasp
l Object detection
l Object contact loss
4.5.1. Force control
The gripping force is controlled via the rFR byte (please refer to the Robot Output Registers &Functionalities section).The Gripper
behavior will change according to the rFR forcerequested.
l rFR = 0 :Very fragile objects or deformable objects mode
l Lowest force
l Re-grasp feature is off
l 1 rFR 255 :Solid & firm objects
l High torque mode
l Re-grasp feature is on
Robotiq Hand-E Gripper - Instruction Manual
Measured grip force for steel of specifichardness(Vickers)
Coming soon
Measured grip force for silicone of specific hardness (Durometer)
Coming soon
4.5.2. Re-Grasp
Re-grasp feature is a built-in feature meant to prevent object lost due to slipping or inaccurate initial grip. The Re-grasp feature will
allow the Gripper to initiate a movement when an object is slipping or dropped. When Re-grasping, the Gripper will attempt to close
until it reaches the position request (rPR).
l This feature is automatically set according to the force request rFR.
Info
Feature is off at force request rFR = 0, otherwise it is on.
52
l Re-grasp will keep the position setting:
l Finger motion will stop when rPR position is reached, even if there is no object.
l Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost /
dropped.
Info
While your initial settings for force and speed are not used for Re-grasp, they will never be eceeded to prevent damaging the
part.
Caution
The rOBJ status is cleared when a motion is detected.
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4.5.3. Object detection
When the Gripper grabs an object, the gOBJ status will allow you to know if contact with the object was successful. This is a built-in
feature for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object
detection feature will change the gOBJ status and can be used inside your robot program.
As stated in the previous section:
gOBJ: Only valid if gGTO = 1.
l 0x00 - Fingers are in motion towards requested position. No object detected.
l 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected.
l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected.
l 0x03 - Fingers are at requested position. No object detected or object has been lost / dropped.
Example of contact detected with an object:
1. Set position, speed and force at maximum (full closing):
a. rPR == 0xFF, rSP == 0xFF, rFR ==0xFF,
2. Set ''go to requested'' will initiate movement :
a. rGTO == 0x01
3. Then object detection status will be "in motion"
a. gOBJ == 0x00
4. Until an object is picked, object detection status will then be "stopped due to contact while closing"
a. gOBJ == 0x02
5. The user can now assume it is holding the payload, and proceed to the next step.
Example of contact lost with an object:
1. From the previous example, after an object is picked
a. gOBJ == 0x02
2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost.
4.5.4. Brake engagement
The Hand-E Gripper is equipped with a brake that engages at the end of each and every Gripper move, and thus disengages between
each of these moves.
For instance, when fully closing on an object, the Gripper makes contact with the surface of the object and activates the brake before
sending the object detection signal to the robot.
Robotiq Hand-E Gripper - Instruction Manual
4.6. Control Logic Example
54
Fig. 4-2: Example of Gripper control logic with corresponding registers.
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55
4.7. Modbus RTUCommunication
The Gripper can be controlled by Modbus RTU directly with RS485 or over USB using the ACC-ADT-USB-RS485. This section is
intended to provide guidelines for setting up a Modbus master that will adequately 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_02.pdf.
For debugging purposes, the reader is also invited to download one of many free Modbus scanners such as the CAS Modbus Scanner
from Chipkin Automation Systems available at: http://www.store.chipkin.com/products/tools/cas-modbus-scanner.
Info
Modbus RTU is a communication protocol based on a Big Endian byte order. Therefore, the 16-bit register addresses are
transmitted with the most significant byte first. However, the data port is in the case of Robotiq products based on the Little
Endian byte order. As such, the data parts of Modbus RTU messages are sent with the less significant byte first.
Tip
Modbus RTUspecifications and details can be found at www.modbus.org.
Robotiq Hand-E Gripper - Instruction Manual
4.7.1. Connection Setup
The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol.
PROPRIETY DEFAULT VALUE
56
Physical Interface
Baud Rate
2
115,200 bps
RS-485
1
Data Bits 8
Stop Bit
Parity
2
2
1
None
Read Holding Registers (FC03)
Read Input Registers (FC04)
Supported Functions
Preset Multiple Registers (FC16)
Master read & write multiple registers (FC23)
Exception Responses Not supported
Slave ID
2
0x0009 (9)
Robot Output / Gripper Input First Register 0x03E8 (1000)
Robot Input / Gripper Output First Register 0x07D0 (2000)
Termination Resistor
1
Various converters are available in the Spare Parts, Kits and Accessories section.
2
These parameters can be adjusted using the Robotiq User Interface.
2
120 ohms
Each register (word - 16 bits) of the Modbus RTU protocol is composed of 2 bytes (8 bits) from the Gripper. The first Gripper output
Modbus register(0x07D0) is composed from the first 2 Robotiq Gripper bytes (byte 0 and byte 1).
Info
200 Hz is the maximum speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send
commands with a minimum delay of 5 ms between them.
Info
120 Ohms termination resistor is already present on the converter and the Gripper. If multiple grippers are connected in
parallel on the same RS485 cable, termination resistor must be set to OFF in communication parameters.
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4.7.2. Read holding registers (FC03)
Function code 03 (FC03) is used for reading the status of the Gripper (robot input). Examples of such data are Gripper status, object
status, finger position, etc.
Example of an FC03 read function:
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: 09 03 07 D0 00 02 C5 CE
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)
Response is: 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 register 07D1
4433 Cyclic Redundancy Check (CRC)
Robotiq Hand-E Gripper - Instruction Manual
4.7.3. Read input registers (FC04)
Function code 04 (FC04) is used for requesting the status of the Gripper's analog input register. Examples of such data are Gripper
status, object status, finger position, etc.
Example of an FC04 read function:
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: 09 04 07 D0 00 02 70 0E
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
58
0002 Number of registers requested (2)
700E Cyclic Redundancy Check (CRC)
Response is: 09 04 04 E0 00 00 00 44 33
Bits Description
09 SlaveID
04 Function Code 04 (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 register 07D1
4584 Cyclic Redundancy Check (CRC)
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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.
Example of setting multiple registers FC16:
This message requests to set position request, speed and force of the Gripper by setting register 0x03E9 (1002) and 0x03EA.
Request is: 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E9 Address of the first register
0002 Number of registers written to
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
60E6 Value written to register 0x03E9
3CC8 Value written to register 0x03EA
EC7C Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E9 00 02 91 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E9 Address of the first register
0002 Number of written registers
9130 Cyclic Redundancy Check (CRC)
Robotiq Hand-E Gripper - Instruction Manual
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, finger position, etc. Action requests are speed, force,
etc.
Example of reading and writing multiple registers FC23:
This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Gripper Status, Object Detection, Fault Status and
Position Request Echo. It also sets the position request, speed and force of the Gripper by writing to registers 0x03E9 (1001) and
0x03EA (1002).
Request is: 09 17 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 2D 0C
Bits Description
09 SlaveID
17 Function Code 23 (read and write multiple registers)
60
07D0 Address of the first requested register, read
0002 Number of registers requested (2), read
03E9 Address of the first register written to
0002 Number of registers written to (3)
04 Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes)
00E6 Value written to register 0x03E9
3CC8 Value written to register 0x03EA
2D0C Cyclic Redundancy Check (CRC)
Response is: 09 17 04 01 00 09 E6 F6 C1
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)
1000 Content of register 07D0
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Bits Description
09E6 Content of register 07D1
F6C1 Cyclic Redundancy Check (CRC)
Note that the content of the response might change depending on the Gripper's status.
Info
The Gripper will execute the input command (i.e.: write), execute one cycle of motion, update the output, then return the
Modbus response read.
Robotiq Hand-E Gripper - Instruction Manual
4.7.6. Modbus RTU example
This section depicts the example from the Control Logic Example section, when programmed using the Modbus RTU protocol. The
example is typical of 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 ( clear and set rACT)
Request is (clear rAct): 09 10 03 E8 00 03 06 00 00 00 00 00 00 73 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
62
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0000
0000 Value written to register 0x03EA
0000 Value written to register 0x03EB
7330 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
Gripper"
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
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Request is (set rAct): 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0100
Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
Gripper"
0000 Value written to register 0x03EA
0000 Value written to register 0x03EB
72E1 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Robotiq Hand-E Gripper - Instruction Manual
Step 2: Read Gripper status until the activation is completed
Request is: 09 03 07 D0 00 01 85 CF
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested 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
Bits Description
64
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes)
1100
55D
5
Content of register 07D0 (GRIPPER STATUS = 0x11, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 1 for
"Activation inprogress"
Cyclic Redundancy Check (CRC)
Response (if the activation IS completed): 09 03 02 31 00 4C 15
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes)
3100
Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 3 for
"Activation is completed"
4C15 Cyclic Redundancy Check (CRC)
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Step 3: Move the robot to the pick-up location
Step 4: Close the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0900
00FF
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
Gripper", rGTO = 1 for "Go to Requested Position"
Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0xFF): rPR = 255/255 for full
closing of the Gripper
FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
4229 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Robotiq Hand-E Gripper - Instruction Manual
Step 5: Read Gripper status until the grip is completed
Request is: 09 03 07 D0 00 03 04 0E
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
040E Cyclic Redundancy Check (CRC)
Example of response if the grip is not completed: 09 03 06 39 00 00 FF 0E 0A F7 8B
Bits Description
66
09 SlaveID
03 Function Code 03 (Read Holding Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
3900
00FF
0E0A
Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion"
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is
100mA (these values will change during motion)
F78B Cyclic Redundancy Check (CRC)
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Example of response if the grip is completed: 09 03 06 B9 00 00 FF BD 00 1D 7C
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
B900
00FF
BD00
1D7C Cyclic Redundancy Check (CRC)
Step 6: Move the robot to the release location
Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing"
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to validate
the size of the seized object)
Robotiq Hand-E Gripper - Instruction Manual
Step 7: Open the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
68
0900
0000
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
Gripper", rGTO = 1 for "Go to Requested Position"
Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full
opening of the Gripper (partial opening would also be possible)
FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
7219 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
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Step 8: Read Gripper status until the opening is completed
Request is: 09 03 07 D0 00 03 04 0E
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
040E Cyclic Redundancy Check (CRC)
Example of response if the opening is not completed: 09 03 06 39 00 00 00 BB 10 30 E0
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
3900
0000
BB10
Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion"
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor current is
160mA (these values will change during motion)
30E0 Cyclic Redundancy Check (CRC)
Robotiq Hand-E Gripper - Instruction Manual
Example of response if the opening is completed: 09 03 06 F9 00 00 00 0D 00 56 4C
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
70
F900
0000
0D00
564C Cyclic Redundancy Check (CRC)
Step 9: Loop back to step 3 if other objects have to be gripped.
Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 3 for "Fingers are at requested position"
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have reached
their software limit)
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Robotiq Hand-E Gripper - Instruction Manual
4.8. Control over Universal Robots with URCaps
The URCap package contains many features to program and control the Gripper. The package provides:
l Gripper toolbar: The Gripper toolbar is automatically installed with the URCaps package. It allows jogging and testing of the Grip-
per. It is a great tool to try grasps with the Gripper while programming.
l Gripper node: The URCaps package adds a Gripper node that is used to add a Gripper command. A node can make the Gripper
move to a specific opening, grasp an object and modify the speed and force applied by the Gripper.
Caution
Starting from Gripper URCap version 1.0.2, the gripper activation script command (rq_activate() or rq_activate_and_wait())
must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was
already activated, it will activateagain.
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4.8.1. Gripper Dashboard
Overview
Single Gripper
Open or create a robot program
1
Go the Installation tab
2
Select Gripper in the left pane
3
Tap the Dashboard button
4
In no Gripper is found, tap the Scan button to detect any Gripper that might be connected to the robot
5
Tap the Activate button
Fig. 4-3: Gripper Dashboard (steps highlighted)
6
If required, change the IDof the Gripper; ID numbers range from 1 to 4
Info
The default Gripper IDallocated to the first device connected is 1.
Robotiq Hand-E Gripper - Instruction Manual
Fig. 4-4: Gripper IDmodification in the Gripper Dashboard
Info
The E-Open and E-Close buttons allow the user to open and close the Gripper even if the latter is not activated.
These emergency commands use very low speed and force settings.
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75
Multiple Grippers
Info
The URCap allows the user to connect and control up to 4 Grippers at the same time.
Caution
If you wish to program using multiple grippers at the same time, connect them to the robot one after the other; each Gripper
connection requiring its own scan and activation before going on to the next.
For each Gripper connected, follow steps 3 to 6 set out in the Single Gripper section.
Features
Icon Functionality Name Description
After selecting Gripper in the left pane of the
Dashboard
Installation tab, tap this button to access the Gripper
Dashboard.
Activate/Reactivate
Not activated/Activated
Gripper Label indicating the Gripper's ID, ranging from 1 to 4.
Scan
Change ID
E-Open
The Activate and Reactivate buttons enables the
corresponding Gripper.
Gripper status: One or the other of these icons is
displayed next to the corresponding Gripper icon.
Command allowing for a detection of connected
Grippers. After tapping this button,the latter will
display in the Gripper Dashboard.
Tap the arrow next to the textbox to expand a list of
available Gripper IDs. Selecting an available number
will allocate it to the corresponding Gripper.
Tapping this button sends an emergency open
command to the corresponding Gripper, whether it is
activated or not.
E-Close
Robotiq Hand-E Gripper - Instruction Manual
Tapping this button sends an emergency close
command to the corresponding Gripper, whether it is
activated or not.
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4.8.2. Gripper Calibration menu and wizard
Depending on the fingers/fingertips used, the operator will calibrate the Gripper and measure the stroke by defining the fully open and
fully closed positions.
Make sure the Gripper is activated.
1
Go to the Installation tab
2
Select Gripper in the left pane
Info
A gripper that has not been calibrated will display open and closed values in percentage.
1
Tap the Calibration tab
2
Tap the Calibrate button corresponding to the Gripper you want to calibrate
Tapping the Calibrate button in the Gripper Calibration menu launches the Calibration wizard.
Follow the instructions on the screen of the teach pendant.
Tip
Depending on the PolyScope settings defined by the user, the units of measurement can either display according to the
metric or imperial system.
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Fig. 4-5: First step of the calibration wizard
Fig. 4-6: Second step of the calibration wizard
Robotiq Hand-E Gripper - Instruction Manual
Following their respective calibration, the Grippers will display their actual stroke, from the fully closed to the fully open position.
Fig. 4-7: Single Gripper, calibrated
Features
Icon Functionality Name Description
78
Calibration
Calibrate/Recalibrate
Default (%)
Gripper
After selecting the Gripper in the left pane
of the Installation tab, tap this button to
access the Gripper Calibration menu.
The Calibrate and Recalibrate buttons
launch the Gripper Calibration wizard.
Following a calibration, tap this button to
reset the calibration and return to the
default percentage values. The button is
greyed out if no calibration has been
performed for the corresponding Gripper.
Label indicating the Gripper's ID, ranging
from 1 to 4.
Fully closed dimension table header
Fully open dimension table header
Robotiq Hand-E Gripper - Instruction Manual
Visual aid above the fully closed
dimensions in the Calibration menu.
Visual aid above the fully open dimensions
in the Calibration menu
79
Icon Functionality Name Description
Close
Open
Fully closed
Fully open
Continue
Tap this button to close the Gripper in the
Calibration wizard.
Tap this button to open the Gripper in the
Calibration wizard.
Visual aid for entering the fully closed
dimension in the Calibration wizard.
Visual aid for entering the fully open
dimension in the Calibration wizard.
Tap this button at the end of the first step
of the Calibration wizard in order to go to
the next step.
Finish
Tap this button at the the end of the
Calibration wizard to complete the
calibration process for the corresponding
Gripper.
Robotiq Hand-E Gripper - Instruction Manual
4.8.3. Gripper Toolbar
The Gripper Toolbar is generally used to test and jog the Gripper, meaning it has no effect on the programming of the robot.
Info
The Gripper URCap package contains the Gripper toolbar. Therefore, the toolbar is automatically installed with the URCap
package. The Gripper toolbar can be installed and used without the URCap package (please refer to the Gripper Toolbar
section for information on how to install the toolbar and the driver package without the URCap).
Info
The Gripper toolbar can be installed and used without the URCap package (please refer to the Control over Universal Robots
without URCaps section for information on how to install the toolbar and the driver package without the URCap).
Overview
Prior to using the Gripper Toolbar, the user needs to go to the Gripper Dashboard and tick the Show Gripper Toolbar. Please refer to
the Gripper Dashboard section
Right after the installation of the Gripper URCap, a collapsed Gripper toolbar will display at the top of the screen; please refer to the
figure below.
80
Fig. 4-8: Gripper toolbar (collapsed)
An expanded Gripper Toolbar prior to the activation of the Gripper looks like the figure below:
Fig. 4-9: Gripper Toolbar before activation
Info
The Emergency open and Emergency close buttons allow the user to open and close the Gripper even if the latter is not
activated.
The emergency commands use very low speed and force settings.
l Tap the Activate button to enable the Gripper
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Single Gripper
Caution
If the Gripper has not been calibrated at this point, the Open and Close values will remain in percentage. Please refer to the
Gripper Calibration menu and wizard section for instructions.
Once the Gripper is activated, the toolbar can be expanded and used to test and jog the Gripper
Fig. 4-10: Gripper toolbar after activation
Robotiq Hand-E Gripper - Instruction Manual
Multiple Grippers
If multiple Grippers are used, check one or several Grippers and test their settings and features.
Tip
The first Gripper selected is the "master", meaning that its settings will be copied over to the others when they are selected.
In order to modify each Gripper's settings individually, select a Gripper, edit it, uncheck its box and carry on to the next
Gripper.
Info
For consistency, selecting multiple Grippers at the same time displays the open and close values in percentage since their
stroke might be different.
82
Fig. 4-11: Gripper toolbar (expanded, multiple Grippers)
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Features
Gripper activation
Icon Functionality Name Description
Gripper toolbar
Tap to toggle between the expanded and collapsed
Gripper toolbar. When greyed out, the functionality is not
available.
Activate
Emergency open Slowly moves the Gripper to its fully closed position.
Emergency close Slowly moves the Gripper to its fully open position.
Tap to activate the Gripper. The Gripper will fully open and
close to set the zero of the position value.
Robotiq Hand-E Gripper - Instruction Manual
Gripper operation window
Primary Icon Functionality Name Description
Tap to toggle between expanded and collapsed Gripper toolbar.
Gripper toolbar
When greyed out, the functionality is not available.
Open Tap to fully open the Gripper.
Close Tap to fully close the Gripper.
84
Shows the actual position of the Gripper according to the system of units
Requested position
defined in PolyScope (imperial vs. metric).
If the Gripper is not calibrated, the values will display in percentage.
Shows the actual speed set of the Gripper.
Requested speed
l 0% = minimum speed
l 100%= maximum speed
Shows the actual force set of the Gripper:
Requested force
l 0% : minimum force, regrasp feature disabled
l 1% : minimum force, with regrasp feature enabled
l 100% : maximum force, with regrasp feature enabled
Plus Tap to increase the corresponding parameter.
Minus Tap to decrease the corresponding parameter.
No object detected Icon shown when no object is detected during a grasp.
Object detected
The icon shows a green checkmark when an object is detected during
agrasp.
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Show/hide Gripper Toolbar
It is possible to toggle between a shown and a hidden Gripper Toolbar.
1
Create or load a robot program
2
Tap the Installation tab
3
Select Gripper in the left pane
4
Tap the Dashboard submenu
5
Check/Uncheck the box in the lower left corner
4.8.4. Gripper Node
To add and edit a Gripper node inside your robot program, follow the steps below:
1
Tap Program Robot.
2
Open an empty program or load one.
3
Go the Structure tab and tap the URCaps submenu.
4
Tap the Gripper button.
5
Go to the Command tab to edit the Gripper node inserted.
6
Tap the Edit action button to edit the node's parameters.
Info
The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script
at the beginning of the program or activate with the Gripper toolbar. Starting from Gripper URCap version 1.0.2, the Gripper
activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This
will force the Gripper's activation routine. Thus, if the Gripper was already activated, it will activate again.
Robotiq Hand-E Gripper - Instruction Manual
Command window
The Command window shows the requested action parameters for the Gripper node. Depending on the position, speed and force
parameters, warning messages may display.
To edit the Gripper node, tap Edit action (please refer to the Edit action screen section for more details).
When the node is not defined,the Command window shows warning
messages. Tap Edit action to modify the Gripper’s action.
Caution
Tap the Go to position button prior to editing the action.
Whereas the command window displays the command that the
Gripper should execute in this particular node, the Edit action
screen displays the current Gripper position.
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When the node requests the Gripper to close/open, the Command window
warns that a partial opening/closing should not be performed for picking
an object.
lFor positioning and partial movement of the hand, moving to a specific
position (between the fully open and fully close positions) issuitable.
lTo pick an object, use the close (or open) actions along with the object
detectionfeature (please refer to the Edit action screen section).
Info
When the action is set for multiple Grippers, the header lists the
selected Grippers (e.g. Grippers 1,2,3,4)
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When the Gripper action is set to close, a green "Close" icon appears.
When the Gripper action is set to open,a green "Open" icon appears.
Robotiq Hand-E Gripper - Instruction Manual
Features
88
Icon
Functionality
Name
Requested
position
Requested
speed
Requested force Shows the force requested for the selected Gripper node. Read only.
Go to position
Shows the position requested for the current Gripper node. Read only.
Shows the speed requested for the selected Gripper node. Read only.
Sends all node parameters (position, force, speed) to the Gripper.
Note: This button is disabled (grey) when the Gripper is already at the
node position or when the Gripper is not powered/activated.
Description
Edit action
Complete
motion
Do not
complete
motion
Warning
message
section
Gripper not
activated
Gripper action
undefined
Opens the Edit action screen, where you can edit the Gripper’s action
parameters.
Selected by default.
Selected: The Gripper completes its motion before executing the next
action on the PolyScope program tree. This is slower but safer.
Selected by default.
Unselected: As soon as the Gripper starts moving, PolyScope will
execute the next action on the program tree. This allows you to move the
Gripper and robot at the same time.
“Warning, the Gripper is not powered or not activated. The Gripper will
not move.”
Make sure that the Gripper is installed correctly and powered. You need
to activate it using the Gripper toolbar before running Gripper
commands.
“Gripper action undefined! Please edit action.”
When creating a new node, all action parameters are undefined. Tap the
edit action button to define parameters.
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Icon
Functionality
Name
“Warning, if you are picking an object, use close (100%) or open (0%)
Object picking
warning
position.”
It is highly recommended to only use 0% or 100% position when trying
to pick an object.
Node name is automatically set to:
l Gripper Open, when position = 0% or fully open value as defined in
the Calibrationwizard
Node name
l Gripper Close, when position = 100% or fully closed value as defined
in the Calibrationwizard.
l Gripper Move x%/mm/in, when position is between the fully open and
fully closedvalues.
Open request
When position requested is 0%, or the fully opened value defined in the
Calibrationwizard.
Close request When position request is 100%.
Description
Robotiq Hand-E Gripper - Instruction Manual
Edit action screen
Tap Edit action from the Command window and use the Edit action screen to edit the Gripper’s parameters and adjust its position,
speed and force. In normal usage conditions, the Gripper will move as soon as you change the position setting. The Gripper will not
move if it is not properly powered, connected and activated.
Caution
The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script
at the beginning of the program or activate with the Gripper toolbar. Starting from Gripper URCap version 1.0.2, the gripper
activation script command (rq_activate() or rq_activate_and_wait()) must be preceded by the reset command (rq_reset()). This
will force the gripper's activation routine. Thus, if the gripper was already activated, it will activate again.
Single Gripper
90
Fig. 4-12: Edit action screen
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Multiple Grippers
l When selecting one gripper, all buttons are available. The
action will apply to the selected gripper.
l When jogging the position, the selected gripper will move
automatically.
l It is possible to jog the position (%).
l When selecting two or more grippers, it is not possible to
jog the position.
l To jog the position, select only one gripper, jog the pos-
ition and then select all grippers. The second gripper will
move to the requested position.
l When no grippers are selected, the action cannot be
edited.
Robotiq Hand-E Gripper - Instruction Manual
Features
Primary Icon Functionality Name Description
92
Open
Close
Requested position Shows the position request for the selected Gripper node.
Requested speed
Requested force
Tap to fully open the Gripper. Use this when you want to grip an object (internal
grip), for example.
Tap to fully close the Gripper. Use this when you want to grip an object (external
grip), for example.
Shows the speed requested for the selected Gripper node. Use the Plus and
Minus icons to modify.
Shows the force requested for the selected Gripper node. Use the Plus and Minus
icons to modify.
Plus Tap to increase the corresponding parameter.
Minus Tap to decrease the corresponding parameter.
Cancel Cancels modifications and brings back the Gripper node command screen.
Saves settings into the selected Gripper node and brings back the Gripper node
command screen.
Save action
Note: This functionality is not available (grey) when the Gripper has the same
action parameters as the selected Gripper node.
No object detected Icon shown when no object is detected during a grasp.
Object detected Icon shows a green checkmark when an object is detected during a grasp.
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Warning
If the Gripper is powered and activated,it will move as soon as a change to the parameter is made (position, speed,force).
Tip
Change speed and force when grasping fragile objects or other specific parts. In all other cases, it is recommended to use
maximum speed and force.
Grip Check node
In order to add and edit a Grip Check node:
1
Open a robot program or create one
2
Go to the Installation tab
3
Tap the URCaps submenu
4
Select Grip Check
TheGrip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the
object is not detected.
Selecting the former option allows the user to check a box and choose whether or not the grasp should be validated according to the
object's dimension (in percentage if the Gripper is not calibrated, or in mm/in if the Gripper is calibrated—depending on the PolyScope
configuration).
Fig. 4-13: Grip Check node interface
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94
Fig. 4-14: Grip Check node interface with dimension validation
Given that the Grip Check node is an If statement, tapping the actual node in the Command tab brings up the option to add an Else
instruction to the program tree.
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About
In this window, the user can access information such as the Gripper's hardware, software and firmware versions, the number of cycles
completed by the device and more.
1
Create or load a robot program
2
Tap the Installation tab
3
Select Gripper in the left pane
4
Tap the About submenu
If the Gripper version is obsolete, a warning message will display and an Upgrade firmware button will prompt the user to upgrade the
firmware to the latest available version.
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Fig. 4-15: Firmware Upgrade Warning Message in PolyScope for CB-Series
Error messages overview
If a program is running without the Gripper being activated, the program will stop at the execution of a Gripper node and the following
message will be displayed in a popup.Tap Stop Program and activate the gripper with the toolbar to continue or add an activation
command in the program (please refer to the Advanced Gripper Functions section).
Caution
Starting from Gripper URCap version 1.0.2, the Gripper activation command (rq_activate() or rq_activate_and_wait()) must be
preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was already
activated, it will activate again.
Gripper Program Template
With the URCap package installation,a program template will automatically be installed in the program folder of PolyScope. It contains
comments and pop up windows that explain Gripper nodes and advanced functions.
Load and open the gripper_tutorial.urp program located in the root program folder. Make sure the Gripper is well connected to the UR
controller. Run the program. You will see pop up windows with comments on the Gripper nodes and advanced functions.
Tip
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Use the gripper_tutorial.urp to learn how to program the Gripper using nodes and advanced functions. You can copy the
tutorial and start a new program based on it.
Robotiq Hand-E Gripper - Instruction Manual
Advanced Gripper Functions
The use of Gripper URCap nodes allows to move the Gripper and modify its speed and force. However, some advanced functions are
only available through UR Script commands.
Info
The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script
at the beginning of the program or activate with the Gripper toolbar.
The functions listed below can be called using subprograms in PolyScope or with a script. Functions with the suffix _and_wait will wait
for the Gripper to complete its operation before going to the next step.
Single Gripper
Name Description
Sends the Gripper activation command. If it is already activated, nothing happens. Note that
rq_activate()
the Gripper must be activated to complete any other operation. Program execution continues
before the end of activation.
98
Sends the Gripper activation command. If it is already activated, nothing happens. Note that
rq_activate_and_wait()
rq_auto_release_close_and_wait()
rq_auto_release_open_and_wait()
rq_close() Moves the Gripper its fully closed position.
rq_close_and_wait()
rq_current_pos()
rq_current_pos_norm()
rq_current_pos_mm()
the Gripper must be activated to complete any other operation. Program execution waits for
theactivation.
Slowly moves the Gripper to its maximum closed position. The Gripper must be activated after
this command. Meant for emergency procedures.
Slowly moves the Gripper to its maximum opened position. The Gripper must be activated
after this command.Meant for emergency procedures.
Moves the Gripper to its fully closed position and waits until the motion is completed to
execute the next command.
Returns the current position of the fingers, from 0 to 255. Can be used to verify that the pick is
successful, by comparing the finger position when the pick was taught with the similar-sized
object.
Returns the current position of the fingers, normalized from 0% to 100%. Can be used to verify
that the pick is successful, by comparing the finger position when the pick was taught with the
similar-sized object.
Returns the current position of the fingers in millimeters, considering that the PolyScope
configuration has been set to use the metric system as measurement system. Can be used to
verify that the pick is successful, by comparing the finger position when the pick was taught with
the similar-sized object.
rq_current_pos_in()
rq_get_gripper_max_cur(current_
Returns the current position of the fingers in inches, considering that the PolyScope
configuration has been set to use the imperial system as measurement system. Can be used to
verify that the pick is successful, by comparing the finger position when the pick was taught with
the similar-sized object.
Returns the maximum supply current value of the appropriate Gripper in mA.
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Name Description
mA, gripperId)
rq_go_to() Sets the Go To bit to 1.
rq_is_gripper_activated()
Sets global variable rq_gripper_act to 1 if the Gripper is activated and returns True. Otherwise
sets the variable to 0 and returns False.
Returns True if the motion of the Gripper is complete and False otherwise. Can be useful to
rq_is_motion_complete()
synchronize a program after a Gripper node is run without the option “Complete Gripper
motion before next action”.
Returns True if the Gripper motion has stopped due to an object. Returns False if Gripper
rq_is_object_detected()
motion was not impeded by an object. Useful for verifying that an object has been picked
correctly before going to the next step. Note: this function is not reliable for very small objects.
Refer to the user manual for more details.
rq_move_and_wait("position")
Moves the Gripper to the position defined by the argument and waits until the motion
iscompleted.
rq_move("position") Moves the Gripper to the position defined by the argument.
rq_move_and_wait_norm
("position")
Moves the Gripper to the position defined by the argument, normalized from 0% to 100%.
Waits until the motion is completed.
rq_move_mm() Moves the Gripper to the position defined by the argument.
rq_move_and_wait_mm() Moves the Gripper to the position defined by the argument.
rq_move_inches() Moves the Gripper to the position defined by the argument.
rq_move_and_wait_inches() Moves the Gripper to the position defined by the argument.
rq_move_norm("position") Moves the Gripper to the position defined by the argument, normalized from 0% to 100%.
rq_open() Moves the Gripper to its fully opened position.
rq_open_and_wait() Moves the Gripper to its fully opened position and waits until the motion is completed.
rq_print_gripper_driver_state() Prints the driver's state to the UR log window.
rq_print_gripper_driver_version() Prints the driver version to the UR log window.
rq_print_gripper_fault_code() Prints the Gripper's fault code in the UR log window.
rq_print_gripper_firmware_version() Prints the Gripper's firmware version to the UR log window.
rq_print_gripper_num_cycles() Prints the Gripper's number of cycles in the UR log window.
rq_print_gripper_serial number() Prints the Gripper's serial number in the URlog window.
rq_reset() Resets the Gripper's activation status. Use after an autorelease before activating the Gripper.
rq_set_force("force") Sets the Gripper's force defined by the argument, from 0 to 255.
rq_set_force_norm("force") Sets the Gripper's force defined by the argument, normalized from 0% to 100%.
rq_set_gripper_max_cur(current_
mA, gripperId)
Robotiq Hand-E Gripper - Instruction Manual
Sets the Gripper's maximum supply current in mA
Name Description
rq_set_speed("speed") Sets the Gripper's speed defined by the argument, from 0 to 255.
rq_set_speed_norm("speed") Sets the Gripper's speed defined by the argument, normalized from 0% to 100%.
rq_stop() Stops the Gripper's motion. The Go To bit is set to 0.
Robotiq Hand-E Gripper - Instruction Manual
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