ROBOTIQ AirPick Operation and maintenance manual

Robotiq AirPick Vacuum Gripper
for Omron-TMSeries Robots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2021 Robotiq Inc.

Revisions 4
1. General Presentation 6
1.1. Gripper nomenclature 6
1.2. Object picking 8
1.3. Setup and control 8
2. Safety 10
2.1. Warning 11
2.2. Intended Use 12
3. Installation 14
3.1. Scope of Delivery 14
3.2. Required Tools and Equipment 17
3.3. Environmental and Operating Conditions 17
3.4. Mechanical Installation 18
3.5. Electrical Setup 26
3.6. Testing the Gripper with the Robotiq User Interface (RUI) 30
4. Software 34
4.1. Overview 34
4.2. Vacuum Gripper register mapping 36
4.3. Robot output registers & functionalities 36
4.4. Robot input registers & status 40
4.5. Vacuum Gripper behavior 43
4.6. Control logic 48
4.7. Modbus RTU communication 48
4.8. Control over OMRON-TM 54
5. User Interface 72
6. Specifications 73
6.1. Technical dimensions 73
6.2. Mechanical specifications 80
6.3. Electrical specifications 89
7. Maintenance 90
7.1. Vacuum Gripper cleaning 91
7.2. Periodic inspection 92
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8. Spare Parts, Kits and Accessories 94
9. Troubleshooting 98
9.1. Vacuum Gripper verification 98
10. Warranty 99
11. Harmonized Standards, Declarations and Certificates 101
11.1. Original EC declaration of incorporation 101
11.2. Applied standards 102
12. Appendix 103
13. Contact 104
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AirPick - 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.
2021/07/01
lUpdate of section 4.3 Robot Output Registers & Functionalities
lUpdate of section 3.1 Scope of Delivery
lUpdate of section 6.2 Mechanical Specifications
lUpdate of section 6.2.2 Center of Mass and Tool Center Point
lUpdate of section 8. Spare Parts, Kits and Accessories
2020/04/14
lUpdate of Specification and Warranty sections
2019/12/04
lUpdate of the Vacuum Gripper firmware
lUpdate of the Vacuum Gripper behavior and modes
2019/11/06
lAddition of the OMRON Wrist Connection Kit (I/O Coupling)
2019/08/13
lUpdate of the latest TMflow 1.72.3500
lUpdate of the version V_002 of the components
2019/07/02
Initial release
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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.
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1. General Presentation
The terms “Gripper”, ''AirPick Gripper'', ''AirPick Vacuum Gripper'' and ''AirPick'' used in the following manual all refer to the
Robotiq AirPick Vacuum Gripper. The Robotiq AirPick Vacuum Gripper is a robotic peripheral designed for industrial applications. .
The vacuum is generated with a venturi system that uses compressed air as an energy source. Its design makes it a unique robotic
end-of-arm tool to quickly pick, place and handle a large range of parts of varying sizes and shapes.
Info
The following section presents the key features of the Gripper and must not be considered as appropriate to the
operation of the Gripper. Each feature is detailed in the appropriate section.
Info
The following manual uses the metric system. Unless specified, all dimensions are in millimeters.
1.1. Gripper nomenclature
1.1.1. AirPick Gripper
The AirPick is a vacuum Gripper that creates a vacuum via a pneumatic vacuum generator. It is equipped with one or multiple
suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper is compatible with the
Robotiq standard coupling interface.
Fig. 1-1: Robotiq AirPick Gripper
Info
Please refer to the Scope of Delivery section subsection and the Spare Parts, Kits and Accessories section for details on
standard and optional parts.
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1.1.2. Suction Cup System
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: Suction cup system
Info
Please refer to the Installation section for more information on how to integrate the Suction Cup System to AirPick.
Info
Please refer to the Scope of Delivery section subsection and the Spare Parts, Kits and Accessories section for details on
standard and optional parts.
Tip
The owner can use a custom bracket or a mounting plate. The bracket or mounting plate can be installed directly under
the manifold.
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AirPick - Instruction Manual
1.2. Object picking
The AirPick Gripper allows:
1. Main unit suction cup
2. Auxiliary system with multiple suction cups
Warning
Object picking causes the compression of the suction cup(s) , which can result in pinching points between the gripper
and the load. Avoid presence of body parts in this zone during operation.
Warning
Before picking any new object or material in autonomous mode, always check that the resulting vacuum level is sufficient
to ensure safe gripping, in order to prevent dropping or ejection of the load.
1.2.1. Main unit suction cup
In order to use only one suction cup, the single cup can be mounted right in the port of the vacuum generator.
1.2.2. Auxiliary system with multiple suction cups
A standard Suction Cup System can be attached to the AirPick Vacuum Gripper. The bracket normally holds two or four suction
cups (corresponding to the four ports of the manifold).
Any unused manifold port should be blocked with a mating plug to avoid air leakage.
Other custom mounting options can also be used to benefit from a multiple suction cups solution
Caution
Custom brackets and plates must meet the required technical specifications (refer to the Technical dimensions section
subsection).
1.3. Setup and control
The Vacuum Gripper is powered and controlled directly via a single device cable that carries 24 V DC power, an air compressed
cable and Modbus RTU communication over RS-485.
Info
Please refer to the Electrical Setup section subsection for wiring information, and to the Software section for the control
of the Vacuum Gripper.
In order to be used, the AirPick Gripper has to be connected to a Gripper coupling which provides both the mechanical and
electrical connectivity to the Gripper.
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Info
Please refer to the Mechanical Installation section for more information on mounting the Vacuum Gripper onto the
coupling. Refer to the Technical dimensions section for the technical drawing, and refer to the Spare Parts, Kits and
Accessories section for a list of the available couplings.
The AirPick Gripper boasts an embedded object detection feature which uses indirect sensing measurements. The system thus
indicates if the workpiece has been dropped or if the Gripper failed to grasp the workpiece.
Info
For more information regarding the object detection feature, please refer to the Software section.
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2. Safety
Warning
The operator must have read and understood all of the instructions in the following manual before operating the Robotiq
Vacuum Gripper.
Caution
The term “operator” refers to anyone responsible for any of the following operations on the Robotiq Vacuum Gripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
This manual covers the various components of the Robotiq Vacuum Gripper and the general operations regarding the whole life-
cycle of the product, from installation to operation and decommissioning.
The drawings and photos in this manual are representative examples. However, discrepancies may be observed between the visual
supports and the actual product.
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