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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7

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.
AirPick-Instruction Manual
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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 suctioncups.
Fig.1-2:Suctioncup system
Info
Pleasereferto theInstallationsectionformoreinformation on howto integratetheSuction Cup System to AirPick.
Info
Pleasereferto theScopeof Deliverysection subsectionand theSpare Parts,Kitsand Accessoriessection fordetailson
standard and optional parts.
Tip
Theownercanuseacustom bracket oramounting plate.Thebracket ormounting platecanbeinstalled directlyunderthe
manifold.
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AirPick-Instruction Manual
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 bodypartsinthiszoneduring operation.
Warning
Before picking anynewobject or material in autonomousmode,alwayscheck that theresulting vacuum level issufficient to
ensuresafegripping,inorderto prevent dropping orejection of theload.
1.2.1.Mainunit suctioncup
In orderto use onlyonesuction cup, the single cup canbe mounted right in the port of thevacuum generator.
1.2.2.Auxiliary systemwithmultiplesuctioncups
A standard Suction Cup System can be attached to theAirPickVacuum Gripper.Thebracket normallyholds two 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 bracketsand platesmust meet therequired technical specifications(referto theTechnicaldimensionssection
subsection).
1.3.Setup and control
TheVacuum Gripperispowered and controlled directlyviaa single devicecable that carries24VDCpower,anaircompressed cable
and ModbusRTUcommunication overRS-485.
Info
Pleasereferto theElectricalSetup sectionsubsectionforwiring information,and to theSoftware section forthecontrol of the
Vacuum Gripper.
In orderto beused,theAirPickGripperhasto beconnected to aGrippercoupling whichprovidesboth themechanical and electrical
connectivityto theGripper.
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Info
Pleasereferto theMechanicalInstallationsection for moreinformation on mounting 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 theworkpiecehasbeen dropped orif theGripperfailed to grasp theworkpiece.
Info
For moreinformationregarding theobject detectionfeature,pleasereferto theSoftware section.
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2.Safety
Warning
Theoperator must haveread and understood all of theinstructionsinthefollowing manual beforeoperating theRobotiq
Vacuum Gripper.
Caution
Theterm “operator” refersto anyoneresponsiblefor anyof the following 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 photosinthismanual arerepresentative examples.However,discrepanciesmaybe observed betweenthevisual
supportsand theactual product.
AirPick-Instruction Manual
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2.1.Warning
Caution
Anyuseof theGripperinnon-compliancewiththesewarningsisdeemed inappropriateand maycause injuryordamage.
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 theairsupplytube from thegripper.
lMake surethat theprovided white safetyclip is properly installed beforepressurizing the Vacuum Gripper.
lAlways usethesuction cup system and itscomponents(airnodes,port plug,etc.)with theRobotiq Vacuum Gripperonly.
lNeveroperate theVacuum Gripperwith leaking or wornparts.
lTheVacuum Gripperneedsto be properlysecured beforeoperating therobot.
lDo not install or operateaGripperthat isdamaged or lacking parts.
lNeversupplytheGripperwithanalternating current source.
lMakesureall cord setsarealwayssecured at bothends—Gripperand robot.
lAlwaysmeet therecommended keying for electrical connections.
lMakesureno individualsor assetsareinthevicinityof 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 theGripperonpeopleoranimals.
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 inthefinal application must 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-Instruction Manual
Thefollowing non-exhaustive list 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 Gripperand the part(s)or theenvironment;
lRiskof damage orbreaking if using a custom suction cup bracket that doesnot meet thetechnical requirements.
Depending on theapplication,theremaybe hazardsthat requireadditional protection and/or safetymeasures.Forinstance,the
workpiece handled bytheGrippercould be inherentlydangerousto theoperator.
Warning
Depending onthesupplysources,whenanemergencystop (e-Stop)buttonispressed,thefollowing consequencesmay
occur.Therobot ownerhastheresponsibilityto do a riskassessment and choosetheappropriateoption.
Supplysources e-Stop consequences
Robot tool supply
(tool connector)
Powerfailure to theVacuum Gripper.Thevacuum levelwill drop to ambient pressureand the
object will be lost.
Robot controllersupply
(Any24Vpin)
Vacuum Gripperpowered ON.
lIf anobject isdetected:thevacuumlevel will continue to beregulated and theobject will
not be lost.
lIf no object isdetected:the Vacuum Gripperwill go into a standbystate 2secondsafter
thee-Stop buttonispressed.
Warning
Lossof vacuum can occurdue to power failure or airsupply interruption.
2.2.Intended Use
TheGripperunit isdesigned forgripping and temporarilysecuring orholding objects.
Caution
TheGripperisNOT intended for applying force against objects orsurfaces.
Theproduct isintended forinstallationonarobot orotherautomated machineryand equipment.
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Info
Alwayscomplywithlocal,state,province and/orfederal laws,regulation and directivesregarding automationsafetyand
general machinesafety.
Theunit should beused exclusivelywithintherangeof itstechnicaldata.Anyother useof theproduct isdeemed improperand
unintended.Robotiq will not be liable for anydamagesresulting from any improperor 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 theVacuum Gripper.
lVerifyyourpackageaccording to thescopeof deliveryand yourorder.
lMakesureto havetherequired parts,equipment and toolslisted inScopeof delivery.
Warning
Wheninstalling:
lMeet therecommended environmental conditions.
lDo not operate theVacuum Gripper,or even turnon the powersupply,beforethedevice isfirmlyanchored and themachine
areaiscleared.Makesure that 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)
oOne(1)USBto RS485 signal converter
oOne(1)RS485to RS232Converter
oOne(1)10-meterscommunicationcable
oRequired hardware
AirPick-Instruction Manual
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l2SuctionCupsKit
oOne(1)Vacuum generator
oOne(1)suction cup system for 2suction cups(1 manifold,1 bracket,tubing,2 airnodes,4 suction cups)
oFour(4)standard suction cups(two different sizes)
oFour(4)port plugs(two alreadymounted onthesuctioncup system)
oOne(1)End effectorcoupling kit
o10-metercommunication cable
oOne(1)USBto RS485 signal converter
oOne(1)RS485to RS232Converter
oOne(1)Tubing 8 mm -(8 m)
oRequired hardware
l4SuctionCupsKit
oOne(1)Vacuum generator
oOne(1)suction cup system for 4suction cups(1 manifold,1 bracket,tubing,4 airnodes,8 suction cups)
oEight (8)standard suction cups(two different sizes)
oFour(4)port plugs
oOne(1)End effectorcoupling kit
o10-metercommunication cable
oOne(1)USBto RS485 signal converter
oOne(1)RS485to RS232Converter
oOne(1)Tubing 8 mm -(8 m)
oRequired hardware
3.1.2.Universal RobotsWrist ConnectionKit forCB-Series
AirPick Wrist Connect Kit for URCB-Series/ One (1) cup (VAC-CB-UR-AIRPICK-KIT1-W)
l1xRobotiq AirPickGripper
l1xI/O Coupling Kit (IO-CPL-UR-CB-KIT)
l1xscrewkit to install on therobot (CPL-SCREW-KIT)
l1xMicro-USBto USBcable(CBL-MICRO-USB-6FT)
l1x16GUSBStick(ACC-USB-16G)
l1 xVacuum cup
l1 xTubing 8mm -8m
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AirPick-Instruction Manual
AirPick Wrist Connect Kit for URCB-Series/ Two (2) cups(VAC-CB-UR-AIRPICK-KIT2-W)
l1xRobotiq AirPickGripper
l1xI/O Coupling Kit (IO-CPL-UR-CB-KIT)
l1xscrewkit to install on therobot (CPL-SCREW-KIT)
l1xMicro-USBto USBcable(CBL-MICRO-USB-6FT)
l1x16GUSBStick(ACC-USB-16G)
l1 xSuction System for two (2)cups
l1 xTubing 8mm -8m
AirPick Wrist Connect Kit for URCB-Series/ Four (4) cups(VAC-CB-UR-AIRPICK-KIT4-W)
l1xRobotiq AirPickGripper
l1xI/O Coupling Kit (IO-CPL-UR-CB-KIT)
l1xscrewkit to install on therobot (CPL-SCREW-KIT)
l1xMicro-USBto USBcable(CBL-MICRO-USB-6FT)
l1x16GUSBStick(ACC-USB-16G)
l1 xSuction System for four(4)cups
l1 xTubing 8mm -8m
Info
Pleasereferto theSpare Parts,Kitsand Accessoriessectionfora list of availablecouplings.
Caution
Thefollowing are not included inthestandard delivery:
lOptionssuch ascustom suction cup brackets/platesor couplingsfor mounting on variousindustrial robots.
lHardware required foraccessoriesorfixtures,unlessspecified.
Info
Whenpurchased asa kit,theAirPickVacuum Gripperwill come ina package with theappropriate coupling,suction cups and
cabling.
Pleasereferto theSpare Parts,Kitsand Accessoriessectionforadditional components.
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