ROBOTIQ HAND-E - Page 3

Robotiq Hand-E Gripper - Instruction Manual
4.5.2. Re-Grasp 39
4.5.3. Object detection 40
4.5.4. Brake engagement 40
4.6. Control Logic Example 41
4.7. Modbus RTUCommunication 42
4.7.1. Connection Setup 43
4.7.2. Read holding registers (FC03) 44
4.7.3. Read input registers (FC04) 45
4.7.4. Preset multiple registers (FC16) 46
4.7.5. Master read & write multiple registers FC23 47
4.7.6. Modbus RTU example 49
4.8. Control Over Hanwha Using the Plugin 58
4.8.1. Gripper Dashboard 58
5. User Interface 62
6. Specifications 63
6.1. Technical dimensions 64
6.1.1. Couplings 65
6.1.2. Fingers and fingertips 67
Rack 67
Basic aluminum finger 68
Fingertip holder 68
Flat silicone fingertip 69
Grooved fingertip 70
6.2. Mechanical specifications 71
6.2.1. Specifications: 71
Payload and force 72
Maximum payload/External force vs. Custom finger design 73
Friction grasp and form-fit grasp 74
Maximum payload by grasp type 74
6.2.2. Center of mass and tool center point 75
6.2.3. Moment and force limits 77
6.3. Electrical specifications 78
7. Maintenance 79
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