ROBOTIQ AirPick User manual

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

Revisions 8
1. GeneralPresentation 10
1.1. Grippernomenclature 10
1.1.1. AirPick Gripper 10
1.1.2. Suction Cup System 11
1.2. Object picking 12
1.2.1. Main unit suction cup 12
1.2.2. Auxiliarysystem with multiple suction cups 12
1.3. Setup and control 12
2. Safety 14
2.1. Warning 15
2.1.1. Risk assessment and final application: 15
2.2. IntendedUse 16
3. Installation 18
3.1. Scopeof Delivery 18
3.1.1. Robotiq AirPick Vacuum Gripper Kit 18
3.1.2. Universal RobotsWrist Connection Kit for CB-Series 19
AirPickWrist Connect Kit forURCB-Series/ One(1)cup (VAC-CB-UR-AIRPICK-KIT1-W) 19
AirPickWrist Connect Kit forURCB-Series/ Two (2)cups(VAC-CB-UR-AIRPICK-KIT2-W) 20
AirPickWrist Connect Kit forURCB-Series/ Four(4)cups(VAC-CB-UR-AIRPICK-KIT4-W) 20
3.2. Required Toolsand Equipment 21
3.2.1. AirPick Gripper Add-On 21
3.2.2. Suction cup system 21
3.3. Environmentaland Operating Conditions 21
3.3.1. Air supply 22
3.3.2. Depressurizing the supply line 22
3.4. MechanicalInstallation 22
3.4.1. Installing the Vacuum Gripper onto the robot 22
SingleGripper 22
InstallationwiththeStandard Coupling Kit 22
Multiple Vacuum Grippers 23
InstallationwiththeURWrist ConnectionKit for CB-Series(I/O Coupling) 24
General presentation& Nomenclature of theI/O Coupling 24
AirPick-Instruction Manual
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Safety 25
FirmwareUpdate 25
Mechanical Installation 26
3.4.2. Air tubing 27
Connection of thesuctioncup systems 27
Connection of the air supplylineto theAirPickVacuum Gripper 28
3.4.3. Suction cup system 29
Manifold and mounting bracket 29
Suctioncupsand airnodes 29
3.5. ElectricalSetup 30
3.5.1. Pinout interface 30
3.5.2. Coupling to controller 31
3.5.3. Coupling to tool connector 33
33
SingleGripper 33
Multiple Grippers 33
3.6. Testing the Gripperwiththe Robotiq UserInterface (RUI) 34
3.7. InstallationforUniversalRobots 36
3.8. URCap Package 36
3.8.1. Installing URCap package on CB-Series 38
SingleGripper 38
Multiple Grippers 40
3.8.2. Uninstalling URCap Package 43
3.8.3. License Agreement 44
4. Software 47
4.1. Overview 47
4.1.1. Control using registers 47
4.1.2. Control over Universal Robotspackage 48
4.2. Vacuum Gripperregistermapping 49
4.3. Robot output registers& functionalities 49
4.4. Robot input registers& status 53
4.4.1. Single Gripper UCH-1.0.0 56
Object Detection 56
4.5. Gripperbehavior 56
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AirPick-Instruction Manual
4.5.1. Control modes 56
Automaticmode 57
Advanced mode 58
Veryporousmaterial detection 60
Object lost/ drop behavior 60
Object secured behavior 60
Object not detected behavior 61
Object releasedelay 61
Emergencystop behavior 61
4.6. Controllogic 61
4.7. ModbusRTUcommunication 61
4.7.1. Connection setup 62
Vacuum Gripperand I/O Coupling communication 62
4.8. ControloverUniversalRobotswithURCap 63
4.8.1. Control with the Wrist Connection Kit (I/O Coupling) 63
4.8.2. Control with the Standard Coupling Kit 65
4.8.3. Vacuum Gripper Scan 66
4.8.4. Vacuum Gripper Toolbar 66
Overview 66
Features 67
4.8.5. Vacuum Gripper node 68
Command window 68
Grip Command 68
ReleaseCommand 70
Features 71
Advanced Vacuum GripperFunctions 71
5. UserInterface 73
6. Specifications 74
6.1. Technicaldimensions 74
6.1.1. Gripper 74
6.1.2. Suction Cup System 75
Manifold 75
Bracket for2suction cups 75
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Bracket for4suction cups 76
6.1.3. Air nodes 78
6.1.4. Couplings 79
Blankcoupling 79
Coupling forISO 9409-1-50-4-M6 80
Coupling forISO 9409-1-31.5-4-M5 81
Coupling forISO 9409-1-40-4-M6 82
Coupling forPCD 56with8xM4 83
Coupling forPCD 56with6xM4 84
Coupling forPCD 60with4xM5 85
Coupling forPCD 63with6xM6 86
6.2. Mechanicalspecifications 87
6.2.1. Payload and force 88
Example 1:Non-porousmaterial 91
Case#2 92
Example 2:Porousmaterial 92
Case#1 94
6.2.2. Center of massand tool center point 95
6.2.3. Moment Limitation 96
6.3. Electricalspecifications 96
7. Maintenance 97
7.1. Vacuum Grippercleaning 98
7.2. Periodicinspection 99
Suctioncupsand airnodes 100
8. Spare Parts, Kitsand Accessories 101
9. Troubleshooting 104
9.1. Communication 104
9.2. Vacuum Gripperverification 106
9.3. I/O Coupling Troubleshooting 107
10. Warranty 109
10.1. I/O Coupling Warranty 110
11. Harmonized Standards, Declarationsand Certificates 111
11.1. OriginalEC declarationof incorporation 111
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AirPick-Instruction Manual
11.2. Appliedstandards 112
12. Appendix 113
13. Contact 114
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Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin
specifications.If such modification ismade,themanual will also berevised,seerevision information.Seethelatest versionof this
manual onlineat:support.robotiq.com.
2019-08-15
lAdd of Multiple Gripperssections
2019-07-30
Add of Wrist connectionKit (I/O Coupling Kit)section
2019-06-14
Initial release
AirPick-Instruction Manual
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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 therefore maynot be reproduced in whole or inpart,whetherfor sale ornot,without priorwrittenconsent from Robotiq.
Undercopyright law,copying includestranslationinto anotherlanguageorformat.
Information provided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by
Robotiq for itsuse.Theremaybe somedifferencesbetween themanual and theproduct if theproduct hasbeen modified afterthe
editiondate.
Theinformation contained 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.TheRobotiq AirPickVacuum Gripperisa roboticperipheral designed for industrial applications..Thevacuum
isgenerated with aventuri system that uses compressed airasanenergysource.Its design makesit a uniqueroboticend-of-arm tool to
quicklypick,placeand handlea largerangeof partsof varying sizesand shapes.
Info
Thefollowing sectionpresentsthekeyfeaturesof theGripperand must not beconsidered asappropriate to theoperation of
theGripper.Eachfeature isdetailed intheappropriatesection.
Info
Thefollowing manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.
1.1.Grippernomenclature
1.1.1. AirPickGripper
TheAirPickis avacuum Gripperthat createsa vacuum via apneumaticvacuum generator.It isequipped with oneor multiple suction
cups.Eachsuctioncup canbe adapted to yourapplicationand grasping needs.The AirPickGripperiscompatiblewiththeRobotiq
standard coupling interface.
Fig.1-1:Robotiq AirPickGripper
Info
Pleasereferto theScopeof Deliverysection subsectionand theSpare Parts,Kitsand Accessoriessection fordetailson
standard and optional parts.
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