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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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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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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PowerPick - Instruction Manual
Warning
Collisionsbetween a person and the PowerPick20Gripper may result in material damage, bodily injury and even death.
Anyone in the vicinityof the work cell should take the necessary precautions.
lMake sure no individual or asset are in the vicinity of the robot and/or Gripper prior to initializing the robot.
lAlwayskeep bodypartsand clothing away from the Gripper while the device ispowered on.
lDo not use the Gripper on people or animals.
lNever stand under suspended loadsheld by the Gripper.
lSecure the Gripper properlybefore operating the robot.
lAlwaysmeet the Gripper payload specifications.
Warning
Maintenance and repair work on electrical equipment must only be carried out byqualified and authorized personnel.
lNever supply the PowerPick20 Controller with power from an alternating current source.
lMake sure that the PowerPick20 Controller I/O cable isalwayssecured at both ends.
lAlwaysmeet the recommended keying for electrical connections.
2.2.2.Noise Level
At the optimal pressure (please refer to the Specificationssection), the noise level at the workstation is76 dBa. Hearing protection
isrecommended but not mandatory. Make sure that all local safetymeasuresand regulationsare met.
2.2.3.PneumaticLimitations
lThe maximum permissible pressure of all pneumatic componentsmust never be exceeded (8 bar).
lPneumatic tubing must be inspected at regular intervalsand, if necessary, replaced (please refer to the Maintenance section for
more details).
lLeaky connectionsmust be sealed to avoid breakage, unnecessary or excessive noise, lossof energy, etc.
lLossof vacuum can occur due to power failure or air supply interruption.
Warning
lMake sure that the air tubesare properly secured before pressurizing the PowerPick20 Gripper.
lMake sure that the air tubesare not pressurized before removing the air supply tube or anyother air tube from the
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PowerPick - Instruction Manual
PowerPick20 Vacuum Generator and Gripper.
lNever operate the PowerPick20 Gripper with leaking or worn parts.
2.3.Useof thePowerPick20 VacuumGripper
The PowerPick20 Vacuum Gripper isdesigned to pick, place and handle cardboard boxes. If the Gripper isused for other
applications, make sure to consider the type of item to be handled in the risk assessment (please refer to the General Risk
Assessment section)and take the appropriate safety measures.
Caution
The Gripper isNOTintended for applying force against objectsor surfaces.
lOnly use the Gripper in itsoriginal condition without unauthorized modifications.
lOnly use the Gripper if it isin perfect technical condition.
lFollow all safetyrulesand regulationsof the workplace when installing, operating and performing maintenance work on the Grip-
per.
lWear all recommended personal protective equipment in accordance with the safety standardsof the workplace, including but
not limited to safety glasses, hearing protection, safety footwear, head protection.
lHandle with care any tool that containssharp edges, pinching surfacesor generate heat.
lComplywith local, state, province and/or federal laws, regulationsand directivesregarding automation safetyand general
machine safety.
The unit should be used exclusivelywithin the range of itstechnical data.Any other use of the product isdeemed improper and
unintended. Robotiq will not be liable for anydamagesresulting from anyimproper or unintended use
When manually moving the Gripper installed on the robot (e.g., for teaching, maintenance, inspection purposes)make sure not to
insert fingersthrough bracket cut outsand openings.
Make sure that all workerswho operate the Gripper have received the appropriate training to do so in a safe manner.
Perform all necessarymaintenance work periodically asspecified in the Maintenance section.
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3.Installation
Thissection will guide the user through the installation and general setup of the Robotiq PowerPick20Vacuum Gripper.
Before installing:
lRead and understand the safetyinstructionsrelated to the PowerPick20 Vacuum Gripper. Please refer to the Safety section for
more information.
lVerifythe package according to the scope of deliveryand the order.
lMake sure to have the required parts, equipment and toolslisted in the scope of delivery.
lMake sure to meet the recommended environmental conditions.
Info
Thismanual usesthe metric system. Unlessspecified, all dimensionsare in millimeters.
Warning
When installing:
lDo not operate the PowerPick20 Vacuum Gripper or even turn on the power supplybefore confirming the device is
firmly attached and the work areaisclear.
lMake sure that the air supply source issecured.
lFailure to properly secure and install the equipment can result in material damage and bodily injury.
If the installation isnot performed in compliance with the manufacturer’sinstructions, the warrantywill be void.
3.1.Scopeof Delivery
3.1.1.PowerPick20 VacuumGripperKit
l1 x PowerPick20 standard kit:
l1 x PowerPick20 Vacuum Generation Unit
l1 x I/O cable (M12, 12pins, 2 m)
l1 x 2in pre-perforated grommet
l1 x PowerPick20 Vacuum Gripper:
l1 x Manifold assembly
l1x Small suction cup bracket assembly with 110 mm suction cups
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l1 x Large suction cup bracket assembly
l1 x 12 mm double air tube (3.63 m)
l4 x 8mm air tubes(275mm)
l1 x Hardware kit:
l1 x M8 shoulder screw
l4 x M8 x 40 mm hex socket head cap screwswith captive spring washer
l10 x 190mm cable ties
l1 x Tubing curler
l1 x Pneumatic adapter 1/2 BSPPto 12 mm tube
l2 x M6 external tooth lock washers
l1 x M6 flange nut
l1 x Installation tool kit:
l1 x 6mm hex key, L-shape
l1 x 21 mm / 24 mm double-ended wrench
l1 x 200mm hollow offset link kit (optional):
l1 x 200mm horizontal offset tube
l4 x M8 x 20 mm hex socket head cap screwswith captive spring washer
l2 x 8mm air tubes(275mm)
l2 x 8mm air tubes(475mm)
l1 x 100mm wrist extension kit (optional):
l1 x 100mm wrist extension
l4 x M8 x 20 mm hex socket head cap screwswith captive spring washer
l1 x 75 mm suction cup kit (optional):
l4 x 75 mm suction cups
l4 x 3/8 BSPPthreaded adapters
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3.2.EnvironmentalandOperatingConditions
Condition Values
Min Max
Operatingtemperature 0°C(32°F) 50°C(122°F)
Storagetemperature -20°C(-4°F) 70°C(158°F)
Humidity (non-condensing) 35%RH 85%RH
IPrating IP2X
Dust,soot and water Affect thetimebetweenmaintenance
Food
No
Cleanroom
IntrisicSafety (IS)
Corrosiveliquidsorgases
Explosiveliquidsorgases
Table 3-1: Environmental and operating conditionsof the PowerPick20
3.3.AirSupply
Caution
lUse dry and filtered air only.
lFollow ISO 8573-1 Class7.4.4.
lThe optimal pressure for compressed air consumption is6bar (87psi). The maximum pressure allowed is8 bar (115
psi).
lRobotiq recommendsusing a local pressure regulator with a filter and air dryer. The filter should prevent any dust
particle larger than 5 µm from getting inside the system.
3.3.1.ConnectingtheSupplyLine
Compressed air must be supplied to the Vacuum Gripper according to the technical specifications.
The air supply tubing must be connected and disconnected to or from the inlet port only when the line isdepressurized.
It isrecommended to use alockout valve before connecting to the product.
To protect against whipping hazards, the air supply tubing (connected to the PowerPick20 vacuum generator)must be firmly
secured. An air fuse can also be installed.
At optimal pressure (6bar / 87 psi), the air supply line must ensure an air flow of 510lpm.
Make sure any other pneumatic equipment connected to the same supply line isnot temporarily reducing the air flow made
available for the vacuum generator.
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PowerPick - Instruction Manual
3.3.2.DepressurizingtheSupplyLine
In order to safely depressurize the supply line, the air supply must first be shut off.
If no lockout valve ispresent to depressurize the line, the Gripper can be activated until the pressure isfully released.
3.4.Receptionof theProduct
3.4.1.VisualInspection
Inspect the package for damage or defectsbefore and after opening it.
Make sure to have all componentsin hand before discarding the box and packaging material.
If damage or defectsare discovered, or if componentsare missing, contact the Robotiq support team at [e-mail].
3.5.MechanicalInstallation
Warning
Failure to properly secure and install the equipment can result in material damage and bodily injury.
The warrantywill not cover material damage resulting from an installation that did not comply with the instructionsfound
in thismanual.
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3.5.1.PowerPick20 VacuumGenerationUnit Installation
Installation
Fig. 3-1: PowerPick20Vacuum Generation Unit
1. Identify the areawhere the PowerPick20Vacuum Generation Unit will be installed. Choose a location so that the electrical
cable and air tubeswill not encumber the working environment.
2. Install the Powerpick20Vacuum Generation Unit using two (2)M8bolts(toolsand hardware not provided).
Caution
Make sure the installation of the PowerPick20 vacuum generator on amachine or piece of equipment doesnot alter the
warranty or certification of said machine or piece of equipment.
3. Connect a 12mm air tube (not provided)to the air supply source and to the Powerpick20 vacuum generator.
4. Connect the PowerPick20 vacuum generator to the robot control box. Please refer to Electrical Installationsection for more
details.
Tip
If the PowerPick20 Vacuum Gripper isused in conjunction with the PE20Robotiq Palletizing Solution, follow the
PowerPick20 Vacuum Generation Unit installation instructionsfound in the PE20user manual.
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PowerPick - Instruction Manual
3.5.2.PowerPick20 GripperInstallation
RequiredTools
Included:
l1 x 6mm hex key
l1 x 21 mm / 24 mm double-ended wrench
Not included:
lTorque wrench
l10mm hex key
Overview
Upon receipt, the PowerPick20Gripper ispre-assembled with the following components:
l1 x PowerPick20 Gripper, default configuration:
l1 x Manifold Assembly
l1 x Small suction cup bracketsassembly
l4 x 110mm suction cups
l4 x 8mm air tubes(275mm)
l1 x Large suction cup bracket assembly
The following instructionsdetail how to install any Gripper configuration. However, you must use the configuration corresponding
to your needs. For more detail about the possible Gripper configurations, see section ConfigurationStepsand Tips.
Info
Please use the Robotiq Configurator to simulate the configuration that correspondsbest to the application at hand.
Should the application require more than one configuration, consider using a gripper arrangement that adaptsto every
situation.
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PowerPick - Instruction Manual
Fig. 3-2: PowerPick20Gripper, Default Configuration
Caution
Any unused manifold port should be covered with aport plug to avoid air leakage.
Installationof ManifoldAssembly
Install the Manifold directly on the robot wrist (no coupling required).
Align with the dowel pin on the robot wrist.
Secure the manifold onto the robot wrist with one (1)M8shoulder screw using the provided 6 mm hex key. Required torque is16
Nm (11.8 lb-ft).
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PowerPick - Instruction Manual
Fig. 3-3: Installation of the Manifold Assembly on the Robot Wrist
Installationof GripperOffset Equipment ontheManifold
For more detail about the different Gripper configurations, please refer to the ConfigurationsStepsand Tipssection. Skip this
step if no offset isnecessary.
Wrist Extension
Align the holesof the wrist extension with the corresponding pinson the manifold.
Install the wrist extension onto the robot wrist with four (4)M8 x40 mm hex socket head cap screwswith captive spring washer
using the provided 6 mm hex key. Required torque is16 Nm (11.8 lb ft).
Fig. 3-4: Installation of the Wrist Extension on the Manifold
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