How is the Robotiq end effector attached to my robot?
The Robotiq gripper or force torque sensor is attached to the robot end of arm using 1 or 2 plates:
- A mechanical coupling
- An adapter plate if needed.
The mechanical coupling is attached to the gripper. It connects to the adapter plate, which has a side that matches the robot end of arm. With different couplings and adapter plates, Robotiq grippers can be installed on almost any robot.
For most popular collaborative robots, Robotiq offers kits that include all hardware required. For example, there is a Robotiq 2F-85 Gripper Kit for Universal Robots. For other robots, such as industrial robots, Robotiq offers the purchase of adapter plates, couplings, and communication controllers separately.
In order to know if a Robotiq gripper can be installed on your robot, you’ll need to know two things about your robot:
- Its end of arm bolt pattern: this allows you to physically attach the gripper to your robot.
- Its communication protocol: this allows you to send commands to the gripper to open, close, etc.
What is a robot bolt pattern?
A robot’s end of arm bolt pattern refers to how attachments can be fastened to the robot end of arm. It describes the disposition of threaded holes to receive several screws. A bolt pattern is normally on a circular or square path and may have dowel pin holes for alignment.
Most robot models will follow the ISO-9409-1 standard. You’ll find your robot’s bolt pattern in its user’s manual or listed amongst its technical specifications.
Bolt patterns specify the end of arm size, number or threaded holes, threading, and diameter.
Robotiq supports the following bolt patterns. You can find the details and pictures of each bolt pattern supported by Robotiq in the end effector's user's manual.
| Bolt Pattern | 2-Finger Gripper, Hand-E, AirPick, EPick | 3 Finger Gripper | FT 300 Force Torque Sensor |
| ISO 9409-1-31,5-4-M5 | x | x | |
| ISO 9409-1-40-4-M6 | x | x | x |
| ISO 9409-1-50-4-M6 | x | x | x |
| PCD 56 with 8 x M4 | x | ||
| PCD 63 with 6 x M6 | x |
What is a communication protocol?
The communication protocol is the language that the robot will use to communicate with its end effector or other systems, like a PLC, for example. You’ll find your robot’s communication protocol in its user’s manual or listed amongst its technical specifications.
Robotiq supports the following communication protocols:
| Communication Protocols | 2-Finger Gripper, Hand-E, AirPick, EPick | 3 Finger Gripper | FT 300 Force Torque Sensor |
| Ethernet IP | x | x | |
| Modbus TCP/IP | x | x | |
| EtherCAT | x | x | |
| Device Net | x | x | |
| CanOpen | x | x | |
| Modbus RTU over RS485 | Native* | x | Native* |
| PROFINET | x | x | |
|
* Native: native communication protocol, no controller necessary |
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