3. Installation

The following subsections will guide you through the installation and general setup of your Robotiq Hand-E Gripper.

Warning

Before installing:

Read and understand the safety instructions related to the Hand-E Gripper.
Verify your package according to the scope of delivery and your order.
Have the required parts, equipment and tools listed in the requirements readily available

Warning

When installing:

Meet the recommended environmental conditions.
Do not operate the Gripper, or even turn on the power supply, before it is firmly anchored and the danger zone is cleared. The fingers of the Gripper may move and cause injury or damage.

3.1. Scope of Delivery

3.1.1. Robotiq Hand-E TM Kit

Standard upon delivery

Robotiq Hand-E Basic Gripper Unit: HND-GRP-001
- Hand-E Aluminum Finger Kit
- Screw kit
RS485 to RS232 signal converter: ACC-ADT-RS232-RS485
USB to RS485 signal converter: ACC-ADT-USB-RS485
Robotiq device cable: CBL-COM-1065-10-HF
Coupling for connection to the robot controller: GRP-CPL-062

Info

When bought as a kit, the Hand-E Gripper will come in a package with the appropriate coupling, fingers/fingertips and cabling. Please refer to the Spare Parts, Kits and Accessories section.

3.2. Required Tools and Equipment

The following tools are required to install the Hand-E Gripper:

4 mm hex key to mount the Gripper onto its coupling.
Metric hex key according to your coupling to mount the coupling onto the robot.

Optional tools if installing fingertip/holder kits: HND-FIN-ALU-KIT, HND-TIP-RUB-KIT, HND-TIP-VGR-KIT, HND-TIP-HLD-KIT

2,5 mm hex key

3.3. Environmental and Operating Conditions

CONDITION	VALUE
Minimum storage/transit temperature	-30°C [-22°F]
Maximum storage/transit temperature	60°C [140°F]
Minimum operating temperature	-10°C [14°F]
Maximum operating temperature	50°C [122°F]
Humidity (non-condensing)	20-80% RH
Vibration	< 0.5G
Other	IP 67

Table 3-1: Environmental and operating conditions of the Hand-E Gripper.

3.4. Mechanical Installation

3.4.1. Installing the fingers/fingertips/holders on the Gripper

The figures below list the material and tools needed to mount fingers or fingertips/holders onto the racks of the Hand-E Gripper.

Fig. 3-1: Mounting the fingers on the racks

Fig. 3-2: Mounting fingertips on holders (and then on the racks)

3.4.2. Installing the Gripper onto the robot

3.4.2.1. Single Gripper

You must use a coupling to attach the Gripper to the robot.

Here are the steps to follow to mount the Gripper on the robot (exploded view in the figure below). Note that all screws should be locked using medium strength threadlocker.

Fig. 3-3: Installing the Gripper onto the robot wrist

3.4.2.2. Multiple Grippers

When installing multiple grippers on one robot, every gripper must have its own coupling.

Fig. 3-4: Dual Hand-E Gripper Configuration

3.5. Electrical Setup

Power and communication are established with the Hand-E Gripper via a single device cable. The device cable provides a 24V power supply to the Gripper and enables serial RS485 communication to the robot controller.

Info

RS485 signals (485+, 485- and 485 GND) are isolated from the main 24V power supply. GND can be connected to any other ground reference as long as the voltage potential between the grounds does not exceed 250V. Grounding reference is at the user's discretion.

3.5.1. Pinout Interface

The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface.

Info

The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6.

3.5.2. Coupling to controller

An optional Robotiq Universal Controller may be used between the Gripper and the network/robot controller if fieldbus communication is required.

If a Robotiq Universal Controller is used, please refer to the instruction manual of the Robotiq Universal Controller. The figure below represents the wiring scheme of the Hand-E Gripper with device cable, power supply, fuse (refer to the Required Tools and Equipment section) and grounding.

Caution

Use proper cabling management. Make sure to leave enough slack in the cabling to allow movement of the Gripper along all axes without pulling out the connectors. Always protect the controller side (robot side) connector of the cable with a strain relief cable clamp.

The figure below illustrates the Hand-E Gripper pigtail connector from the coupling (GRP-CPL-062 or AGC‑CPL‑XXX-002), the device cable on the robot side (CBL‑COM‑2065‑10-HF) and their associated pinout.

Table 3-2: Pinout of the Hand-E Gripper pigtail and device cable.

If additional cables are used, suggested cable specifications are as follows:

Power supply, fusing

minimum #22 AWG TEW, 300 V or 600 V

3.5.2.1. Single Gripper

Connect the white, green and bare wires to the Robotiq RS485 to RS232 signal converter (ACC-ADT-RS232-RS485) as shown in the figure below.

Fig. 3-5: Gripper Cable to RS485/RS232

Also connect the red (24V) and black (0V) wires in the controller according to the figure below.

Fig. 3-6: Gripper Cable to Terminal Connector on the Controller

3.5.2.2. Multiple Grippers

It is possible to connect multiple grippers on the same robot. Only one RS485 to RS232 converter (ACC-ADT-RS232-RS485) should be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10 m cable (CBL-COM-2065-10-HF).

Fig. 3-7: Multiple grippers wiring