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
8

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
9

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
10