ROBOTIQ AirPick User manual

Robotiq AirPickVacuumGripper
for e-SeriesUniversal Robots
InstructionManual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

Robotiq AirPickVacuumGripper
forOmron-TM SeriesRobots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

Robotiq AirPickVacuumGripper
for TM Robots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

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

Robotiq EPickVacuumGripper
forOmron-TM SeriesRobots
Instruction Manual robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.

Revisions 10
1. GeneralPresentation 12
1.1. Grippernomenclature 12
1.1.1. AirPick Gripper 12
1.1.2. Suction Cup System 13
1.2. Object picking 14
1.2.1. Main unit suction cup 14
1.2.2. Auxiliarysystem with multiple suction cups 14
1.3. Setup and control 14
2. Safety 16
2.1. Warning 17
2.1.1. Risk assessment and final application: 17
2.2. IntendedUse 18
3. Installation 20
3.1. Scopeof Delivery 20
3.1.1. Robotiq AirPick Vacuum Gripper Kit 20
3.2. Required Toolsand Equipment 22
3.2.1. AirPick Gripper Add-On 22
3.2.2. Suction cup system 22
3.3. Environmentaland Operating Conditions 22
3.3.1. Air supply 23
3.3.2. Depressurizing the supply line 23
3.4. MechanicalInstallation 23
3.4.1. Installing the Vacuum Gripper onto the robot 23
SingleGripper 23
Multiple Vacuum Grippers 25
3.4.2. Air tubing 26
Connection of thesuction cup systems 26
Connection of the air supplylineto theAirPickVacuum Gripper 27
3.4.3. Suction cup system 28
Manifold and mounting bracket 28
Suctioncupsand airnodes 29
3.5. ElectricalSetup 29
AirPick-InstructionManual
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3.5.1. Pinout interface 30
3.5.2. Coupling to controller 30
3.5.3. Coupling to wrist 31
SingleGripper 31
Multiple Grippers 32
3.6. InstallationforUniversalRobots 32
3.7. URCap Package 33
3.7.1. Installing URCap package on e-Series 34
SingleGripper 34
Multiple Grippers 36
3.7.2. Uninstalling URCap Package 38
3.7.3. License Agreement 39
4. Software 42
4.1. Overview 42
4.1.1. Control using registers 42
4.1.2. Control over Universal Robotspackage 43
4.2. Vacuum Gripperregistermapping 44
4.3. Robot output registers& functionalities 44
4.4. Robot input registers& status 48
4.5. Gripperbehavior 51
4.5.1. Control modes 51
Automaticmode 51
Advanced mode 52
Veryporousmaterial detection 54
Object lost/ drop behavior 54
Object secured behavior 54
Object not detected behavior 55
Object releasedelay 55
Emergencystop behavior 55
4.6. Controllogic 55
4.7. ModbusRTUcommunication 55
4.7.1. Connection setup 56
4.8. ControloverUniversalRobotswithURCap 56
4.8.1. Vacuum Gripper Scan 58
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AirPick-InstructionManual
4.8.2. Vacuum Gripper Toolbar 59
Overview 59
Features 59
4.8.3. Vacuum Gripper node 60
Command window 60
Grip Command 61
ReleaseCommand 62
Features 63
Advanced Vacuum GripperFunctions 63
5. UserInterface 65
6. Specifications 66
6.1. Technicaldimensions 67
6.1.1. Gripper 67
6.1.2. Suction Cup System 68
Manifold 68
Bracket for2suction cups 68
Bracket for4suction cups 69
6.1.3. Air nodes 71
6.1.4. Couplings 72
Blankcoupling 72
Coupling forISO 9409-1-50-4-M6 73
Coupling forISO 9409-1-31.5-4-M5 74
Coupling forISO 9409-1-40-4-M6 75
Coupling forPCD 56with8xM4 76
Coupling forPCD 56with6xM4 77
Coupling forPCD 60with4xM5 78
Coupling forPCD 63with6xM6 79
6.2. Mechanicalspecifications 80
6.2.1. Payload and force 81
Example 1:Non-porousmaterial 84
Case#2 85
Example 2:Porousmaterial 85
Case#1 87
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6.2.2. Center of massand tool center point 88
6.2.3. Moment Limitation 89
6.3. Electricalspecifications 89
7. Maintenance 90
7.1. Vacuum Grippercleaning 91
7.2. Periodicinspection 92
Suctioncupsand airnodes 93
8. Spare Parts, Kitsand Accessories 94
9. Troubleshooting 97
9.1. Communication 97
9.2. Vacuum Gripperverification 99
10. Warranty 100
11. Harmonized Standards, Declarationsand Certificates 102
11.1. OriginalEC declarationof incorporation 102
11.2. Appliedstandards 103
12. Appendix 104
13. Contact 105
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Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin
specifications.If such modificationismade,themanual will also berevised,seerevision information.Seethelatest versionof this
manual onlineat:support.robotiq.com.
2019-08-15
lAdd of Multiple Gripperssections
2019-06-14
Initial release
AirPick-InstructionManual
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Copyright
© 2016-2019Robotiq Inc.All rightsreserved.
Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and thereforemaynot be reproduced in whole or inpart,whether for sale ornot,without priorwrittenconsent from Robotiq.
Undercopyright law,copying includestranslation into anotherlanguageorformat.
Information provided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by
Robotiq for itsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe
editiondate.
Theinformationcontained inthisdocument issubject to changewithout notice.
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1.General Presentation
Theterms“ Gripper”,''AirPickGripper'', ''AirPickVacuum Gripper'' and ''AirPick'' used in thefollowing manual all refer to theRobotiq
AirPickVacuum Gripper.The Robotiq AirPickVacuum Gripperisa roboticperipheral designed for industrial applications..The vacuum
isgenerated with aventuri system that usescompressed air as an energysource.Itsdesignmakesit a uniqueroboticend-of-arm tool to
quicklypick,placeand handlealargerangeof partsof varying sizesand shapes.
Info
Thefollowing section presentsthekeyfeaturesof theGripperand must not be considered asappropriate to theoperation of
theGripper.Eachfeatureisdetailed intheappropriatesection.
Info
Thefollowing manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.
1.1.Grippernomenclature
1.1.1. AirPickGripper
TheAirPickisa vacuum Gripperthat createsa vacuum via apneumaticvacuum generator.It isequipped with oneor multiple suction
cups.Eachsuctioncup canbeadapted to yourapplicationand grasping needs.TheAirPickGripperiscompatible withtheRobotiq
standard coupling interface.
Fig.1-1:Robotiq AirPickGripper
Info
AirPick-InstructionManual
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Pleasereferto theScopeofDeliverysectionsubsectionand 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,airnodes,port plugs,bumpers,tubing and additional suction cups.
Fig.1-2:Suctioncup system
Info
Pleasereferto theInstallationsectionformoreinformation on howto integratetheSuction Cup System to AirPick.
Info
Pleasereferto theScopeofDeliverysectionsubsectionand theSpare Parts,Kitsand Accessoriessectionfordetailson
standard and optional parts.
Tip
Theownercanuseacustom bracket oramounting plate.Thebracket ormounting platecanbe installed directlyunderthe
manifold.
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AirPick-InstructionManual
1.2.Object picking
TheAirPickallows:
1. Mainunit suctioncup
2. Auxiliary system with multiplesuction cups
Warning
Object picking causesthecompressionof thesuction cup(s),whichcanresult inpinching pointsbetweenthegripperand the
load.Avoid presenceof bodypartsin thiszoneduring operation.
Warning
Before picking anynewobject or material in autonomousmode,alwayscheckthat theresulting vacuum level issufficient to
ensuresafegripping,inorderto prevent dropping orejection of theload.
1.2.1.Mainunit suctioncup
In orderto use onlyonesuction cup,thesingle cup can be mounted right in theport of thevacuum generator.
1.2.2.Auxiliary systemwithmultiplesuctioncups
A standard Suction Cup System can be attached to theAirPickVacuum Gripper. The bracket normallyholds two or foursuction 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 cupssolution
Caution
Custom bracketsand platesmust meet therequired technical specifications(referto theTechnicaldimensionssection
subsection).
1.3.Setup and control
TheVacuum Gripperispowered and controlled directlyvia a single device cablethat carries24VDCpower,an air compressed cable
and ModbusRTUcommunication overRS-485.
Info
Pleasereferto theElectricalSetup section subsectionforwiring information,and to theSoftwaresection for thecontrol of the
Vacuum Gripper.
In orderto beused,theAirPickGripperhasto be connected to aGrippercoupling whichprovidesboththemechanical and electrical
connectivityto theGripper.
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Info
Pleasereferto theMechanicalInstallationsection for moreinformation onmounting theVacuum Gripperonto thecoupling.
Referto theTechnicaldimensionssection for thetechnical drawing,and referto theSpare Parts,Kitsand Accessoriessection
foralist of theavailablecouplings.
TheAirPickGripperboastsanembedded object detection feature whichusesindirect sensing measurements.Thesystem thus
indicatesif theworkpiecehasbeendropped orif theGripperfailed to grasp theworkpiece.
Info
For moreinformationregarding theobject detectionfeature,pleasereferto theSoftwaresection.
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2.Safety
Warning
Theoperatormust haveread and understood all of theinstructionsin thefollowing manual beforeoperating theRobotiq
Vacuum Gripper.
Caution
Theterm “operator” refersto anyoneresponsiblefor anyof thefollowing operationson theRobotiq Vacuum Gripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
Thismanual covers the variouscomponentsof theRobotiq Vacuum Gripperand thegeneral operationsregarding thewhole life-cycle
of the product, from installation to operation and decommissioning.
Thedrawingsand photosin thismanual arerepresentativeexamples.However,discrepanciesmaybe observed betweenthevisual
supportsand theactual product.
AirPick-InstructionManual
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2.1.Warning
Caution
Anyuseof theGripperinnon-compliancewiththesewarningsisdeemed inappropriateand maycauseinjuryordamage.
Warning
lAirsupplymust bedryand filtered according to ISO 8573-1class3.4.3.
lAirsupplypressuremust be between3 and 7 barwith anoptimal pressureat 6.5 bar.
lMakesurethat thetubing isproperlysecured beforepressurizing thegripper.
lMake surethat thetubing isnot pressurized beforeremoving theairsupply tube from thegripper.
lMake surethat theprovided white safetyclip is properly installed beforepressurizing the Vacuum Gripper.
lAlways usethesuction cup system and itscomponents(air nodes,port plug,etc.)with theRobotiq Vacuum Gripperonly.
lNeveroperate theVacuum Gripperwith leaking or worn parts.
lTheVacuum Gripperneedsto be properlysecured before operating therobot.
lDo not install or operateaGripperthat isdamaged orlacking parts.
lNeversupplytheGripperwithanalternating current source.
lMakesureall cord setsarealwayssecured at bothends—Gripperand robot.
lAlwaysmeet therecommended keying for electrical connections.
lMakesureno individualsorassetsare inthevicinityof therobot and/orGripperpriorto initializing therobot.
lAlwaysmeet theGripper’spayload specifications.
lSet your vacuum level based on yourapplication.
lKeep body partsand clothing awayfrom the Gripperwhilethe deviceis powered on.
lDo not use theGripperonpeople or animals.
lNeverstand undersuspended loadsheld bythe Vacuum Gripper.
2.1.1.Riskassessment andfinalapplication:
TheRobotiq Vacuum Gripperismeant to be used on cobotsand industrial robots.
Therobot,theGripperand anyotherequipment used in thefinal applicationmust go through acomprehensiveriskassessment
process beforetheycanbe used.Special care must be takenduring thisstep if custom mounting optionsare used for thesuction cups.
Caution
It istherobot integrator’sresponsibilityto ensurethat all local safetymeasuresand regulationsare met.
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AirPick-InstructionManual
Thefollowing non-exhaustivelist presentsrisksthat must beassessed during theintegration process:
lRiskof contact betweenbodypartsand suction cupsduring gripping;
lRiskof load ejectionresulting from lossof vacuum;
lRiskof load dropping resulting from lossof vacuum;
lRiskof pinching betweenthe Vacuum Gripper and the part(s)or the environment;
lRiskof damage orbreaking if using a custom suction cup bracket that doesnot meet thetechnical requirements.
Depending on theapplication,theremaybe hazardsthat require additional protection and/orsafetymeasures.Forinstance,the
workpiece handled bytheGrippercould beinherentlydangerousto theoperator.
Warning
Depending onthesupplysources,whenanemergencystop (e-Stop)buttonispressed,thefollowing consequencesmay
occur.Therobot ownerhastheresponsibilityto do ariskassessment and choosetheappropriateoption.
Supplysources e-Stop consequences
Robot tool supply
(tool connector)
Powerfailureto theVacuum Gripper.Thevacuum level will drop to ambient pressureand the
object will be lost.
Robot controllersupply
(Any24Vpin)
Vacuum Gripperpowered ON.
lIf anobject isdetected:thevacuumlevel will continueto be regulated and theobject will
not be lost.
lIf no object isdetected:theVacuum Gripperwill go into a standbystate 2secondsafter
thee-Stop buttonispressed.
Warning
Lossof vacuum can occurdueto power failureor airsupply interruption.
2.2.Intended Use
TheGripperunit isdesigned forgripping and temporarilysecuring or holding objects.
Caution
TheGripperisNOT intended for applying forceagainst objectsor surfaces.
Theproduct isintended forinstallationonarobot orotherautomated machineryand equipment.
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Info
Alwayscomplywithlocal,state,province and/orfederal laws,regulationand directivesregarding automation safetyand
general machinesafety.
Theunit should be used exclusivelywithintherangeof itstechnical data.Anyotheruseof theproduct isdeemed improperand
unintended.Robotiq will not be liable for anydamagesresulting from anyimproperor unintended use.
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3.Installation
Thefollowing subsectionswill guide you through theinstallation and general setup of yourRobotiq Vacuum Gripper.
Warning
Beforeinstalling:
lRead and understand thesafetyinstructionsrelated to the Vacuum Gripper.
lVerifyyourpackage according to thescopeof deliveryand yourorder.
lMakesureto havetherequired parts,equipment and toolslisted inScopeof delivery.
Warning
Wheninstalling:
lMeet therecommended environmental conditions.
lDo not operate theVacuum Gripper,or eventurn on the powersupply,beforethedeviceis firmlyanchored and the machine
areaiscleared.Makesurethat theairsupplyissecured.
3.1.Scope of Delivery
3.1.1.RobotiqAirPickVacuum GripperKit
Standard upondelivery:
lStandard Kit
oOne(1)Pneumaticvacuum generator
oTwo (2)standard suctioncups(two different sizes)
oOne(1)End effectorcoupling kit
oOne(1)USBstick
oOne(1)Tubing 8mm -(8m)
oRequired hardware
l2SuctionCupsKit
oOne(1)Vacuum generator
oOne(1)suction cup system for 2suction cups(1 manifold,1 bracket,tubing,2airnodes,4 suction cups)
oFour(4)standard suction cups(two different sizes)
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