ROBOTIQ HAND-E - Page 3

Robotiq Hand-E Gripper Instruction Manual
Revisions 5
1. General Presentation 8
1.1. Gripper nomenclature 9
1.2. Object picking 11
1.3. Setup and control 12
2. Safety 13
2.1. Warning 14
2.2. Intended Use 14
3. Installation 15
3.1. Scope of Delivery 16
3.2. Required Tools and Equipment 18
3.3. Environmental and Operating Conditions 19
3.4. Mechanical Installation 20
3.5. Electrical Setup 27
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 32
3.7. Installation for Universal Robots 33
3.8. URCap Package 34
4. Control 43
4.1. Overview 43
4.2. Gripper Register Mapping 45
4.3. Robot Output Registers &Functionalities 46
4.4. Robot Input Registers andStatus 48
4.5. Picking Features 52
4.6. Control Logic Example 54
4.7. Modbus RTUCommunication 54
4.8. Hand-E Gripper and I/O Coupling communication 68
4.9. Control over Universal Robots 69
5. Specifications 101
5.1. Technical dimensions 102
5.2. Mechanical Specifications 108
5.3. Electrical specifications 115
6. Maintenance 116
3