ROBOTIQ 2F-85 User manual
Robotiq 2F-85 & 2F-140
for Cobots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2021 Robotiq Inc.
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55
Table of Contents
1. General Presentation 6
1.1. Gripper nomenclature 7
1.2. 2F-85 vs. 2F-140 8
1.3. Object picking 9
1.4. 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 17
3.3. Environmental and Operating Conditions 19
3.4. Mechanical Installation 19
3.5. Electrical Setup 25
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 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 36
4.5. Picking Features 40
4.6. Control Logic Example 47
4.7. Modbus RTUCommunication 48
5. Specifications 63
5.1. Technical dimensions 64
5.2. Mechanical specifications 78
5.3. Electrical specifications 84
6. Maintenance 85
6.1. Gripper cleaning 87
6.2. Periodic inspection 88
2F-85 &2F-140 - Instruction Manual
2
2F-85 &2F-140 - Instruction Manual
6.3. Fingertip replacement 89
6.4. Overhaul 90
7. Spare Parts, Kits and Accessories 91
8. Troubleshooting 94
8.1. Using the Robotiq User Interface (RUI) 94
9. Warranty andPatent 95
10. Harmonized Standards, Declarations and Certificates 97
10.1. Translation of original EC declaration of incorporation 97
10.2. Applied standards 98
11. Contact 99
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2F-85 &2F-140 - 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 2021/05/19
lUpdated Warranty and Patent (section 9)
lUpdated Spare Parts, Kits and Accessories (section 7)
lUpdated figures (section 5.1.1)
lUpdated Center of mass and TCPtable (section 5.2.3)
lUpdated Preset multiple registers (section 4.7.3)
Revision 2020/02/11
Multiple modifications to standardize with our other manuals
Revision 2019/05/17
Environmental and Operating Conditions updated.
Revision 2019/04/24
First Publication of Instruction Manual
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2F-85 &2F-140 - Instruction Manual
Copyright
© 2019-2021 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.
5
1. General Presentation
The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper", "Robotiq Adaptive Gripper", "2-Finger 85", "2-Finger 140", "2F-
85" and "2F-140" used in the following manual all refer to the Robotiq 2-Finger Adaptive Robot Gripper. The Robotiq 2-Finger
Adaptive Gripper has two versions, 85 and 140. The 2-Finger version will change finger opening dimensions, which will be 85 mm
(2F-85) or 140mm (2F-140). Both versions use the same base, installation and control will be exactly the same. The 2-Finger Gripper
is a robotic peripheral that is 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 objects of varying sizes and shapes.
Info
Unless specified, information in this manual applies to both the 85 and the 140 mm version of the 2-Finger Adaptive
Gripper.
Info
The following manual uses the metric system, unless specified, all dimensions are in millimeters.
Info
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 the Gripper.
2F-85 &2F-140 - Instruction Manual
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2F-85 &2F-140 - Instruction Manual
1.1. Gripper nomenclature
The 2-Finger Gripper has two articulated fingers that each have two joints (two phalanxes per finger), as shown in the figure below.
The grasp-type gripper can engage up to five points of contact with an object (two on each of the phalanges plus the palm). The
fingers are under-actuated, meaning they have fewer motors than the total number of joints. This configuration allows the fingers
to automatically adapt to the shape of the object they grasp which simplifies the control of the gripper.
Fig. 1-1: Robotiq 2-Finger Adaptive Gripper.
Please refer to the Spare Parts, Kits and Accessories section for details on standard and optional parts.
Warning
The Led behavior can change depending on the communication protocol. Please contact Support for more details.
The status LED presented in the figure above will be :
lsolid blue/red when booting
lsolid blue when powered with no errors (while communication is active)
lsolid red if minor fault occurs, see status details in the Control section.
lblinking red/blue if major fault occurs, see status details in the Control section.
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2F-85 &2F-140 - Instruction Manual
1.2. 2F-85 vs. 2F-140
The 2-Finger Gripper has two configurations either 85 mm opening (2-Finger 85) or 140 mm opening (2-Finger 140). The chassis
remains the same, only the fingers will change. Please refer to the Mechanical Installation section for installation instructions.
Finger kits are available in the Spare Parts, Kits and Accessories section.
Info
Details on the 2-Finger 85 and 2-Finger 140 (dimensions and specifications) can be found in the Specifications section.
Fig. 1-2: The 2-Finger 85 and 140 mm versions.
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2F-85 &2F-140 - Instruction Manual
1.3. Object picking
The 2-Finger Gripper has a single actuator for opening and closing the fingers. The fingers automatically adapt to the shape of the
object manipulated.
Fingers will adopt either a parallel grasp or encompassing grasp as shown in the figure below.
Info
Closing or opening is done via the "Go to requested position" command sent to the gripper. Whether the fingers close
to produce an encompassing or parallel grasp is determined mechanically by:
lThe objects's geometry;
lThe relative position of the object with respect to the gripper.
In other words, picking the same object could result in either an encompassing or fingertip grasp based on an object's
position and geometry.
Fig. 1-3: 2-Finger parallel and encompassing grips.
Info
It is important to note that a fingertip grasp can only be performed when the fingers touch the object with the upper
section of the distal phalanxes first. Inversely, for an encompassing grip, the fingers must touch the object with the
proximal or the lower section of the distal phalanxes first. Also, to ensure stability, the object should be held against the
gripper palm while performing an encompassing grip. Refer to Fig. 1-5 for a visual representation of the parallel and
encompassing grasp regions on the distal phalanx of the 2-Finger Gripper.
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5
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1
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