ROBOTIQ 2F-85 User manual

Robotiq 2F-85 & 2F-140

for Cobots

Instruction Manual robotiq.com | leanrobotics.org

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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 RTUCommunication 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

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 andPatent 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

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 TCPtable (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

2F-85 &2F-140 - Instruction Manual

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.

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 140mm (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

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.

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.

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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