ROBOTIQ HAND-E - Default Chapter; Table of Contents

Robotiq Hand-E Gripper - Instruction Manual
Revisions 5
1. General Presentation 7
1.1. Gripper nomenclature 8
1.2. Object picking 10
1.3. Setup and control 11
2. Safety 12
2.1. Warning 12
2.2. Intended Use 13
3. Installation 14
3.1. Scope of Delivery 15
3.1.1. Robotiq Hand-E Gripper Hanwha Kit 15
3.2. Required Tools and Equipment 16
3.3. Environmental and Operating Conditions 17
3.4. Mechanical Installation 18
3.4.1. Installing the fingers/fingertips/holders on the Gripper 18
3.4.2. Installing the Gripper onto the robot 20
Single Gripper 20
3.5. Electrical Setup 21
3.5.1. Pinout Interface 21
3.5.2. Coupling to controller 21
Single Gripper 24
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 24
3.7. Installation for Hanwha Robots 27
3.7.1. Installing the plugin 27
3.7.2. Uninstalling the plugin 28
4. Control 29
4.1. Overview 29
4.2. Gripper Register Mapping 31
4.3. Robot Output Registers &Functionalities 32
4.4. Robot Input Registers &Status 35
4.5. Picking Features 38
4.5.1. Force control 38
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