ROBOTIQ HAND-E - Table of Contents

Robotiq Hand-E Gripper Instruction Manual
Revisions 4
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 13
2.2. Intended Use 13
3. Installation 14
3.1. Scope of Delivery 15
3.2. Required Tools and Equipment 17
3.3. Environmental and Operating Conditions 18
3.4. Mechanical Installation 19
3.5. Electrical Setup 26
4. Control 31
4.1. Overview 31
4.2. Gripper Register Mapping 33
4.3. Robot Output Registers &Functionalities 34
4.4. Robot Input Registers andStatus 36
4.5. Picking Features 40
4.6. Control Logic Example 43
4.7. Modbus RTUCommunication 43
4.8. Hand-E Gripper and I/O Coupling communication 57
4.9. Control over OMRON TM 58
5. Specifications 78
5.1. Technical dimensions 79
5.2. Mechanical Specifications 85
5.3. Electrical specifications 91
6. Maintenance 92
6.1. Gripper cleaning 94
6.2. Periodic inspection 95
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