ROBOTIQ EPick User manual

1.WHAT IS SUPPLIED?
Vacuum generator
I/O coupling kit
- Screws kit
- Micro-USB to USB cable
- 16 Gb USB stick
Suction cups
KIT1-W
KIT2-W
KIT4-W
Required hardware
2.TOOLS YOU NEED
4.MOUNTING
3.GET THE LATEST
THANK YOU FOR
CHOOSING ROBOTIQ
4mm
hex key
1. Have a USB stick that contains the .urcap file (see
section 3, “Get the latest”).
2. Insert the USB stick in the robot teach pendant.
3. Tap Setup Robot > URCaps Setup.
4. Tap .
5. Open UCH-X.X.X.urcap.
6. Tap Restart to activate the URCap.
7. The Wrist Connection toolbar will display shortly after
completing the installation.
This step-by-step guide will allow you to install and use
your EPick vacuum gripper on Universal Robots CB
Series robots fitted with a Robotiq I/O coupling.
Standard upon delivery of VAC-CB-UR-EPICK-KITX-W
(VAC-GRP-EPICK)
(IO-CPL-UR-CB-KIT)
(1 SUCTION CUP)
BEFORE OPERATING THE EPICK VACUUM GRIPPER, PLEASE
READ YOUR INSTRUCTION MANUAL.
!
(2 SUCTION CUPS)
(4 SUCTION CUPS)
6.INSTALLING SOFTWARE
DOWNLOADING THE INSTRUCTION MANUAL
1. Select brand > Universal Robots > Vacuum
Grippers > Documents > View online or Download
PDF.
For easier mounting, move the robot tool flange
to make it point upwards.
MOUNTING THE I/O COUPLING
1. Insert the provided dowel pin into the tool flange. It
should fit tightly on the flange, and loosely on the
coupling.
2. Mount the I/O Coupling on the tool flange of the
robot. Align with the provided dowel pin.
3. Secure the I/O Coupling on the tool flange with four
M6 screws and toothlock washers, using a 4mm hex key.
MOUNTING THE EPICK ON THE I/O COUPLING
1. Put the EPick on the coupling.
2. Secure the EPick to the coupling with four M5 screws
and toothlock washers, using a 4mm hex key.
3. Plug coupling connector into tool connector.
Visit: support.robotiq.com
DOWNLOADING THE URCAP
1. Select brand > Universal Robots > Vacuum Grippers
> Software > I/O Coupling Software.
2. Select DOWNLOAD ZIP.
3. Save the ZIP file UCH-X.X.X to a USB stick.
5. CONFIGURING
On the teach pendant, select the I/O tab. Tool ouput
must be set to 24 volts (see figure 2).
For more details on configuring coupling
presets, see section 7, “Configuring Presets”.
Figure 2. Set tool output to 24 volts.
Figure 1. EPick wrist connection kit
exploded view, on robot arm.
Figure 3. The Wrist Connection toolbar.
suction cup
vacuum generator
I/O coupling
dowel pin
coupling
connector
M6 screws
M5 screws
CAREFUL !
FRAGILE PINS
tool connector

8. WRIST CONNECTION
TOOLBAR
[email protected]
T: 1.418.380.2788 ext. 3
July 2019
V1.0
support.robotiq.com
This product is under a 1-year warranty.
Refer to your product instruction manual for details.
9. PROGRAMMING
WITH THE NODE
Wrist Connection Kit
for CB Series
Universal Robots
X-990083-A
Automatic
release mode
Min. vac: 10%
Max. vac: 20%
P RESET 4PRESET 3
Automatic
grip mode
P RESET 1 PRESET 2
I/O COUPLING DEFAULT PRESETS
7. CONFIGURING PRESETS
LINKING WITH THE I/O COUPLING
The I/O coupling must be mounted on the tool
flange before proceeding.
1. Connect the micro-USB cable (type B) into the I/O
coupling micro-USB port.
2. Connect the cable to a computer USB port.
3. Configure coupling using the Robotiq User Interface.
CONFIGURING VIA THE ROBOTIQ USER INTERFACE
1. Visit support.robotiq.com.
2. Go to Select brand > Universal Robots > Vacuum
Grippers > Software > Robotiq User Interface.
3. Select Installer > Download ZIP.
4. Run the Robotiq User Interface.
5. Select IO Coupling > Auto Connect.
6. From the dropdown list, select Vacuum Gripper.
7. If required, modify default presets, then click Save
presets configuration to I/O Coupling.
For more details, refer to the EPick instruction manual.
USING THE WRIST CONNECTION NODE
1. From your robot program, go to Structure >
URCaps, and insert a Wrist Connection node.
2. Go to Command, and select the applicable preset.
Vacuum Gripper
1. Using the teach pendant, tap the
Wrist Connection button to expand the
Wrist Connection toolbar.
2. Tap any preset button to test its behavior.
https://robotiq.com/support
QUICK START GUIDE
Continuous
grip mode
EPICK
Figure 4. The Wrist Connection toolbar contains four presets.
https://robotiq.com/support