ROBOTIQ POWERPICK20 Operation and maintenance manual

Robotiq PowerPick20 Vacuum Gripper
Instruction Manual
ROBOTIQ POWERPICK20VACUUM GRIPPER
robotiq.com | leanrobotics.org
Original Notice
© 2023Robotiq Inc.

PowerPick - Instruction Manual
Tableof Contents
Revisions 5
1. General Presentation 7
1.1. Disclaimer 7
1.2. Nomenclature 8
2. Safety 9
2.1. Disclaimer 9
2.2. RiskAssessment 10
2.3. Use of the PowerPick20 Vacuum Gripper 12
3. Installation 13
3.1. Scope of Delivery 13
3.2. Environmental and Operating Conditions 15
3.3. AirSupply 15
3.4. Receptionof the Product 16
3.5. Mechanical Installation 16
3.6. Electrical Installation 30
3.7. SupplyPressure Adjustment 32
3.8. ConfigurationsStepsand Tips 33
4. Software 37
4.1. Grip Check 37
5. Specifications 39
5.1. Technical dimensions 39
5.2. Mechanical Specifications 44
5.3. Tool Center Point and Center of Mass 46
5.4. Electrical specifications 48
5.5. Control specifications 48
6. Maintenance 49
6.1. SafetyMeasures 49
6.2. Maintenance 50
7. Spare Parts, Kitsand Accessories 52
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PowerPick - Instruction Manual
8. Troubleshooting 54
9. Warranty 55
9.1. Conditions 55
9.2. Warranty 55
9.3. WarrantyVoid and Exclusions 55
10. Harmonized Standards 57
11. Appendix 58
12. Contact 59
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PowerPick - Instruction Manual
Revisions
Robotiq may modify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin
specifications. If such modification ismade, the manual will also be revised, see revision information. See the latest version of this
manual online at: support.robotiq.com.
2023/10/18
Initial release
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PowerPick - Instruction Manual
Copyright
© 2023Robotiq Inc. All rightsreserved.
Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof other countries, and by
international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written
consent from Robotiq. Under copyright law, copying includestranslation into another language or format.
Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed
byRobotiq for itsuse. There maybe some differencesbetween the manual and the product if the product hasbeen modified after
the edition date.
The information contained in thisdocument issubject to change without notice.
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PowerPick - Instruction Manual
1.GeneralPresentation
1.1.Disclaimer
The termsGripper,PowerPick20 Gripper,PowerPick20 Vacuum Gripper and PowerPick20 used in the following manual all refer to
the Robotiq PowerPick20Vacuum Gripper. The Robotiq PowerPick20Vacuum Gripper isarobotic device designed for industrial
applications. The vacuum isgenerated with a venturi system that usescompressed air asan energysource.It isan end-of-arm tool
designed to pick, place and handle arange of items(typically cardboard boxes)of varying sizesand weights.
Info
The following section presentsthe keyfeaturesof the Robotiq PowerPick Vacuum Gripper and must not be considered
asappropriate to the operation of the Gripper. Each feature isdetailed in the appropriate section.
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PowerPick - Instruction Manual
1.2.Nomenclature
1.2.1.PowerPick20 Gripper
The PowerPick20 Gripper isa mechanical assembly equipped with interchangeable components. It isthe end-effector of the
robot. It usesthe negative pressure generated by the PowerPick20 Vacuum Generator to create a vacuum and, through the
multiple suction cups, lifts, holdsand movesboxesand other objectsweighting up to18.2kg (40 lb). To simplify thismanual, the
word “box” will be used to represent the item to be handled with the Gripper. The PowerPick20 Gripper isdirectly installed on the
wrist of the robot, without a coupling interface.
Fig. 1-1: PowerPick20Gripper, Default Configuration
1.2.2.PowerPick20 VacuumGenerator
The PowerPick20 Vacuum Generator isan electrical and pneumatic device composed of two solenoid valves, two pressure sensors
and two vacuum generator cartridges. It is an intermediate controller, connected to the robot controller and the PowerPick20
Gripper via I/O terminal blocks and air tubes. The PowerPick20 Vacuum Generator creates and releases the vacuum for the
PowerPick20 Gripper.
Fig. 1-2: PowerPick20Vacuum Generator
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PowerPick - Instruction Manual
2.Safety
2.1.Disclaimer
Caution
Any user of the Robotiq PowerPick20 must have read and understood all of the instructionsin the following section
before operating it.
It isthe installer/operator'sresponsibilityto ensure that all local safetymeasuresand regulationsare met.
The intent of thissection isto provide general guidelinesfor safe use of the PowerPick20 vacuum gripper.
Alwaysfollow local regulations.
The installer isresponsible for the safe installation and commissioning of the PowerPick20vacuum gripper.
Robotiq acceptsno liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of thisproduct.
The user (installer and operator)shall observe safe and lawful practicesincluding but not limited to those set forth in this
document.
The term operator refersto anyone responsible for anyof the following operationson the Robotiq Vacuum Gripper:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
Thismanual coversthe variouscomponentsof the PowerPick20vacuum gripper and the general operationsregarding the whole
life-cycle of the product, from installation to operation and decommissioning.
The drawingsand photosin thismanual are representative examples. However, discrepanciesmaybe observed between the
visual supportsand the actual product.
Warning
Any use of the PowerPick20 vacuum gripper in non-compliance with these instructionsisdeemed inappropriate and may
cause injury or damage.
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PowerPick - Instruction Manual
2.2.RiskAssessment
2.2.1.GeneralRiskAssessment
The robot, the Gripper and any other equipment used in the final application must go through a comprehensive risk assessment
processbefore theycan be used.
The following non-exhaustive list presentsrisksthat must be assessed during the integration process:
lRiskof contact betweenbody partsand thegripperand/or suction cups;
lRiskof load ejection resultingfromlossof vacuum;
lRiskof load droppingresultingfromlossof vacuum;
lRiskof pinching between theGripper and the itemsbeinghandled,or other objectsin theenvironment.;
Depending on the application, configuration and itemsbeing handled, additional hazardsmaybe present. For instance,the boxes
handled by the Gripper could be inherently dangerousto the operator. Such hazardsmay require additional protection or safety
measures(e.g., light curtains, safety scanners, enclosure, etc.).
To ensure an adequate level of safety, floor markingsmust be applied to delineate safe zonesaround the work cell. It isthe
responsibility of the integrator to establish the proper safe distance from the work cell to protect the user.
The software allowsfor the limiting of the robot'sspeed, force and working area in order to reduce residual risk. These measures
can namelygive the operator more time to react appropriately,and reduce the robot’sbrake time.
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