ROBOTIQ EPick User manual

Robotiq EPickVacuumGripper
forTM Robots
InstructionManual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

Revisions 5
1. General Presentation 7
1.1. Grippernomenclature 7
1.1.1. EPick Gripper 7
1.1.2. Suction Cup System 8
1.2. Object picking 9
1.2.1. Main unit suction cup 9
1.2.2. Auxiliarysystem with multiple suction cups 9
1.3. Setup and control 9
2. Safety 11
2.1. Warning 12
2.1.1. Risk assessment and final application: 12
2.2. IntendedUse 13
3. Installation 14
3.1. Scopeof Delivery 14
3.1.1. Robotiq EPick Vacuum Gripper Kit 14
3.2. RequiredToolsand Equipment 16
3.2.1. EPick Gripper Add-On 16
3.2.2. Suction cup system 16
3.3. EnvironmentalandOperatingConditions 16
3.4. MechanicalInstallation 17
3.4.1. Installing the Vacuum Gripper onto the robot 17
SingleGripper 17
3.4.2. Air tubing 18
Connection of thesuction cup systems 18
3.4.3. Suction cup system 19
Manifold and mounting bracket 19
Suction cupsand airnodes 20
3.5. ElectricalSetup 21
3.5.1. Pinout interface 21
3.5.2. Coupling to controller 22
Single Vacuum Gripper 23
3.6. Testing the Gripperwiththe Robotiq UserInterface (RUI) 24
EPick- InstructionManual
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3.6.1. License Agreement 26
4. Software 29
4.1. Overview 29
4.1.1. Control using registers 29
4.2. VacuumGripperregistermapping 31
4.3. Robot output registers& functionalities 31
4.4. Robot input registers& status 35
4.5. Gripperbehavior 38
4.5.1. Control modes 38
Automaticmode 38
Advanced mode 39
Veryporousmaterial detection 41
Object lost/ drop behavior 41
Object secured behavior 41
Object not detected behavior 42
Object releasedelay 42
Emergencystop behavior 42
4.6. Controllogic 42
4.7. ModbusRTUcommunication 42
4.7.1. Connection setup 43
4.8. ControloverTM 44
4.8.1. TM Robotscompatibilitywith Robotiq Vacuum Grippers 44
4.8.2. Getting Started 44
4.8.3. TM Vacuum Gripper Components 48
Installation 48
Gripper Button 53
Programming 56
Advanced Mode 57
GRIPComponent 58
RELEASEComponent 58
SelectID Component 59
Changing theModbusSlave ID 59
5. UserInterface 62
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EPick- InstructionManual
6. Specifications 63
6.1. Technicaldimensions 64
6.1.1. Gripper 64
6.1.2. Suction Cup System 65
Manifold 65
Bracket for 2suctioncups 65
Bracket for 4suctioncups 66
6.1.3. Air nodes 68
6.1.4. Couplings 69
Blankcoupling 69
Coupling forISO 9409-1-50-4-M6 70
6.2. Mechanicalspecifications 71
6.2.1. Payload and force 72
Example1:Non-porousmaterial 75
Case#2 76
Example2:Porousmaterial 76
Case#1 78
6.2.2. Center of massand tool center point 79
6.2.3. Moment Limitation 80
6.3. Electricalspecifications 80
7. Maintenance 81
7.1. VacuumGrippercleaning 82
7.2. Periodicinspection 83
Suction cupsand airnodes 84
8. Spare Parts, Kitsand Accessories 85
9. Troubleshooting 88
9.1. VacuumGripperverification 88
10. Warranty 89
11. Harmonized Standards, Declarationsand Certificates 91
11.1. OriginalECdeclarationof incorporation 91
11.2. Appliedstandards 92
12. Contact 93
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Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin
specifications.If suchmodification ismade,themanual will also berevised,seerevision information.See thelatest versionof this
manual online at support.robotiq.com.
2019/08/13
lUpdateof thelatest TMflow1.72.3500
lUpdateof theversionV_002of thecomponents
2019/07/02
Initial release
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EPick- InstructionManual
Copyright
© 2019 Robotiq Inc.All rightsreserved.
Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and thereforemaynot be reproduced inwhole orinpart, whetherfor sale or not,without prior writtenconsent from Robotiq.
Undercopyright law,copying includestranslationinto anotherlanguageorformat.
Informationprovided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by
Robotiq foritsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe
edition date.
Theinformationcontained inthisdocument issubject to changewithout notice.
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1.General Presentation
The terms“ Gripper”,"EPickGripper","EPickVacuum Gripper" and "EPick" used in the following manual all refer to theRobotiq EPick
Vacuum Gripper.The Robotiq EPick Vacuum Gripper isa roboticperipheral designed for industrial applications. The vacuum is
generated withanelectricvacuum pump. Itsdesign makesit a unique roboticend-of-arm tool to quicklypick,place and handle alarge
rangeof partsof varying sizesand shapes.
Info
Thefollowing sectionpresentsthe keyfeaturesof the Gripperand must not beconsidered asappropriateto theoperationof
theGripper.Eachfeature isdetailed in theappropriate section.
Info
The following manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.
1.1.Grippernomenclature
1.1.1.EPickGripper
The EPickGripperisa vacuum Gripperthat generates avacuum with an electricvacuum pump..It isequipped with one or multiple
suctioncups.Eachsuctioncup canbeadapted to your application and grasping needs.TheEPickGripperiscompatible withthe
Robotiq standard coupling interface.
Fig.1-1:Robotiq EPickGripper
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Info
Please referto the ScopeofDeliverysection subsectionand theSpare Parts,Kitsand Accessoriessectionfordetailson
standard and optional parts.
1.1.2.SuctionCupSystem
A Robotiq Suction Cup System can be installed directly under the Vacuum Gripper. Each Robotiq Suction Cup System includes a
bracket,a manifold,air nodes,port plugs,bumpers,tubing and additional suction cups.
Fig.1-2:Suctioncup system
Info
Please referto the Installationsection formore informationonhowto integrate the SuctionCup System to EPick.
Info
Please referto the ScopeofDeliverysection subsectionand theSpare Parts,Kitsand Accessoriessectionfordetailson
standard and optional parts.
Tip
Theownercanuse acustom bracket oramounting plate.Thebracket ormounting platecanbeinstalled directlyunder the
manifold.
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EPick- InstructionManual
1.2.Object picking
TheEPickGripperallows:
1. Mainunit suction cup
2. Auxiliarysystem with multiple suction cups
Warning
Object picking causesthecompressionof thesuctioncup(s),whichcanresult inpinching pointsbetweenthegripperand the
load.Avoid presenceof bodypartsinthiszoneduring operation.
Warning
Beforepicking anynewobject or material inautonomousmode,always checkthat the resulting vacuum level issufficient to
ensuresafe gripping,inorderto prevent dropping orejection of theload.
1.2.1.Main unit suctioncup
In order to use onlyonesuction cup,the single cup canbe mounted right intheport of thevacuum generator.
1.2.2.Auxiliarysystemwithmultiple suctioncups
A standard Suction Cup System can be attached to theEPick Vacuum Gripper.Thebracket normallyholdstwo or four suction cups
(corresponding to thefourportsof themanifold).
Anyunused manifold port should beblocked withamating plug to avoid airleakage.
Other custom mounting optionscanalso be used to benefit from a multiple suction cups solution
Caution
Custom brackets and platesmust meet the required technical specifications(refer to theTechnicaldimensionssection
subsection).
1.3.Setup and control
TheVacuum Gripperispowered and controlled directlyvia asingle devicecablethat carries24VDCpowerand ModbusRTU
communicationoverRS-485.
Info
Please referto the ElectricalSetup sectionsubsectionfor wiring information,and to theSoftware section for thecontrol of the
Vacuum Gripper.
Inorderto beused,theEPickGripperhasto beconnected to aGrippercoupling whichprovidesboththemechanicaland electrical
connectivityto the Gripper.
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Info
Please referto the MechanicalInstallationsection for moreinformation on mounting theVacuum Gripperonto the coupling.
Refer to theTechnicaldimensionssection for thetechnical drawing,and refer to the Spare Parts,Kitsand Accessoriessection
foralist of theavailablecouplings.
The EPickGripperboastsanembedded object detection featurewhich usesindirect sensing measurements.The system thusindicates
if theworkpiecehasbeendropped orif theGripperfailed to grasp the workpiece.
Info
Formore informationregarding theobject detection feature,please referto theSoftwaresection.
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