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ROBOTIQ EPick Instruction Manual

Vacuum gripper for tm robots
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Original Notice
© 2019 Robotiq Inc.
Robotiq EPick Vacuum Gripper
for TM Robots
robot iq.com | leanrobot ics.org
Instruction Manual

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Summary of Contents for ROBOTIQ EPick

  • Page 1 Original Notice © 2019 Robotiq Inc. Robotiq EPick Vacuum Gripper for TM Robots robot iq.com | leanrobot ics.org Instruction Manual...

  • Page 2: Table Of Contents

    3.4.3. Suction cup system Manifold and mounting bracket Suction cups and air nodes 3.5. Electrical Setup 3.5.1. Pinout interface 3.5.2. Coupling to controller Single Vacuum Gripper 3.6. Testing the Gripper with the Robotiq User Interface (RUI) EPick - Instruction Manual...
  • Page 3 Object release delay Emergency stop behavior 4.6. Control logic 4.7. ModbusRTU communication 4.7.1. Connection setup 4.8. Control over TM 4.8.1. TM Robots compatibility with Robotiq Vacuum Grippers 4.8.2. Getting Started 4.8.3. TM Vacuum Gripper Components Installation Gripper Button Programming Advanced Mode...
  • Page 4 Suction cups and air nodes 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Vacuum Gripper verification 10. Warranty 11. Harmonized Standards, Declarations and Certificates 11.1. Original EC declaration of incorporation 11.2. Applied standards 12. Contact EPick - Instruction Manual...

  • Page 5: Revisions

    Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at support.robotiq.com.
  • Page 6 This manual and the product it describes are protected by the Copyright Act of Canada, by laws of 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.

  • Page 7: General Presentation

    1 . General Presentation The terms “ Gripper” , " EPick Gripper" , " EPick Vacuum Gripper" and " EPick" used in the following manual all refer to the Robotiq EPick Vacuum Gripper. The Robotiq EPick Vacuum Gripper is a robotic peripheral designed for industrial applications. The vacuum is generated with an electric vacuum pump.

  • Page 8: Suction Cup System

    1 .1 .2. Suction Cup System A Robotiq Suction Cup System can be installed directly under the Vacuum Gripper. Each Robotiq Suction Cup System includes a bracket, a manifold, air nodes, port plugs, bumpers, tubing and additional suction cups.

  • Page 9: Object Picking

    Please refer to the Electrical Setup section subsection for wiring information, and to the Software section for the control of the Vacuum Gripper. In order to be used, the EPick Gripper has to be connected to a Gripper coupling which provides both the mechanical and electrical connectivity to the Gripper.
  • Page 10 The EPick Gripper boasts an embedded object detection feature which uses indirect sensing measurements. The system thus indicates if the workpiece has been dropped or if the Gripper failed to grasp the workpiece.

  • Page 11: Safety

    2. Safety Warning The operator must have read and understood all of the instructions in the following manual before operating the Robotiq Vacuum Gripper. Caution The term “ operator” refers to anyone responsible for any of the following operations on the Robotiq Vacuum Gripper:...

  • Page 12: Warning

    Any use of the Gripper in non-compliance with these warnings is deemed inappropriate and may cause injury or damage. Warning Always use the suction cup system and its components (air nodes, port plug, etc.) with the Robotiq Vacuum Gripper only. Never operate the Vacuum Gripper with leaking or worn parts.

  • Page 13: Intended Use

    The unit should be used exclusively within the range of its technical data. Any other use of the product is deemed improper and unintended. Robotiq will not be liable for any damages resulting from any improper or unintended use. EPick - Instruction Manual...

  • Page 14: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq Vacuum Gripper. Warning Before installing: Read and understand the safety instructions related to the Vacuum Gripper. Verify your package according to the scope of delivery and your order.
  • Page 15 Options such as custom suction cup brackets/plates or couplings for mounting on various industrial robots. Hardware required for accessories or fixtures, unless specified. Info When purchased as a kit, the EPick Vacuum Gripper will come in a package with the appropriate coupling, suction cups and cabling.

  • Page 16: Required Toolsand Equipment

    40°C [104°F] Humidity (non-condensing) 20-80% RH IP Rating IP 4X Table 3-1: Environmental and operating conditions of the EPick Vacuum Gripper Caution Use of the Vacuum Gripper is not recommended in presence of chemicals in the environment. EPick - Instruction Manual...

  • Page 17: Mechanical Installation

    Info The input filter prevents any dust larger than 200 µm from getting inside the pump. Dry dust will prevent the accumulation on filters or inside the pump. The use of suction cups with integrated filter can be used to reduce dust accumulation. The exhaust must not be blocked.

  • Page 18: Air Tubing

    Info To facilitate the assembly of the Robotiq Wrist Camera on the suction cup system, make sure to place the tubing as shown in the figure to be assured that there will be no interference with the camera's field of view while preventing excessive tube bending.

  • Page 19: Suction Cup System

    Fig. 3-2: Air tubes alignment 3.4.3. Suction cup system Manifold and mounting bracket In order to use the two (2) or the four (4) Suction Cups System, assemble the vacuum generator to the suction cup system, as shown in the figure below, using four (4) M5 socket head cap screws and four (4) M5 toothlock washers.

  • Page 20: Suction Cups And Air Nodes

    Fig. 3-4: Screwing a vacuum cup and an air bolt 2. Pass each air bolt through the mounting bracket, adjust the position of the node along the bracket side, align with mating air nuts and tighten node by hand. EPick - Instruction Manual...

  • Page 21: Electrical Setup

    250 V. Grounding reference is at the user’s discretion. 3.5.1 . Pinout interface The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface. Fig. 3-6: Pinout of the EPick cable-to-wrist coupling.

  • Page 22: Coupling To Controller

    If a Robotiq Universal Controller is used, please refer to the instruction manual of the Robotiq Universal Controller. The figure below represents the wiring scheme of the Vacuum Gripper with device cable, power supply, fuse (refer to the Required Tools and Equipment section) and grounding.

  • Page 23: Single Vacuum Gripper

    Minimum #24 AWG TEW, 300 V or 600 V A and B signals must be balanced at 120 Ohms Single Vacuum Gripper Connect the white, green and bare wires to the Robotiq RS485 to RS232 signal converter (ACC-ADT-RS232-RS485) as shown in the figure below.

  • Page 24: Testing The Gripper With The Robotiq User Interface (Rui)

    Fig. 3-10: Gripper cable to terminal connector on the controller 3.6. Testing the Gripper with the Robotiq User Interface (RUI) Once installed and properly secured, your Robotiq Vacuum Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. To do so :...
  • Page 25 Fig. 3-11: Wiring possibilities of the USB to RS-485 converter. Fig. 3-12: Wiring possibilities of the USB to RS-485 converter.

  • Page 26: License Agreement

    1.4 hereof including their modifications and upgrades and their related materials; 5. “ Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced man- ufacturing and sale of robotic products (the “...
  • Page 27 Licensor if, at such time, the End-User is not in default in respect of any of its obligation contained herein. Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Website http://robotiq.com/ where a link to proceed to such installation will be made available thereof.
  • Page 28 8. The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soi- ent rédigés en anglais seulement. EPick - Instruction Manual...

  • Page 29: Software

    Robot output registers & functionalities section will detail the output (write) register functions. The Robot input registers & status section will detail the input (read) register status. The figure below is a representation of the memory and the control logic of the Gripper. EPick - Instruction Manual...
  • Page 30 Fig. 4-1: Vacuum Gripper control logic overview...

  • Page 31: Vacuum Gripper Register Mapping

    MINIMUM RELATIVE PRESSURE LEVEL REQUEST RESERVED Byte 6 to 15 RESERVED RESERVED Table 4-1: Registers of the Vacuum Gripper 4.3. Robot output registers & functionalities Register: ACTION REQUEST Address: Byte 0 Bits Symbols Reserved rATR rGTO rMOD rACT EPick - Instruction Manual...
  • Page 32 rACT (Activate) The rACT bit allows the Gripper to be operational. 0b0 - Clear Gripper fault status. 0b1 - Gripper is operational. Must stay 0x01 at all time during normal operation of the gripper. rMOD Gripper mode The rMOD bits are used to select the gripping mode. 0b00 - Automatic mode.
  • Page 33 When gripping (rPR <= 0d99), this register is used to set the time window (each integer being 100 milliseconds) prior to a gripping error. The vacuum generator will stop after the timeout period. Only valid if rMOD=0x01. 0x00 (0d0) - No timeout. 0x0A (0d10) - 1 sec timeout period. 0xFF (0d255) - 25.5 sec timeout period. EPick - Instruction Manual...
  • Page 34 When releasing (rPR >= 0d100), this register is used to set the time window (each integer being 100 milliseconds) prior to set the vacuum actuators in holding mode. Only valid if rMOD=0x01. 0x00 (0d0) - Vacuum holding state set when ambient pressure is detected. 0x01 (0d01) - Vacuum holding state set 100 msec after ambient pressure is detected.

  • Page 35: Robot Input Registers& Status

    0b01 - Object detected. Minimum vacuum value reached. 0b10 - Object detected. Maximum vacuum value reached. 0b11 - No object detected. Object loss, dropped or gripping timeout reached. Register: GRIPPER STATUSEXTENSION Address: Byte 1 Bits Symbols Reserved gVAS EPick - Instruction Manual...
  • Page 36 Major faults (0xA <= gFLT <= 0xF) - Reset is required (rising edge on activation bit rACT required) 0xA - Under minimum operating voltage. 0xB - Automatic release in progress (Vacuum/pressure detected). 0xC - Internal fault; contact support@robotiq.com. 0xF - Automatic release completed (Vacuum/pressure not detected)
  • Page 37 Please refer to the optional Robotiq Controller manual (input registers & status). Register: MAXIMUM VACUUM/PRESSURE LEVEL REQUEST ECHO Address: Byte 3 Bits Symbols gPR (Vacuum/Pressure request echo) This register is the echo of the MAXIMUM VACUUM/PRESSURE LEVEL REQUEST register.

  • Page 38: Gripper Behavior

    4.5. Gripper behavior Workpiece gripping/releasing is performed by changing the values of the gripper input registers. While the control is very simple, some behaviors deserve a better explanation. 4.5.1 . Control modes The vacuum gripper can work in two different mode: the Automatic and Advanced options. Automatic mode The automatic mode is selected when rMOD==0b00.

  • Page 39: Advanced Mode

    3. Object lost/drop flag will be set if the vacuum level drops below 10% or if the vacuum level falls below the minimum vacuum level for more than the desired timeout value. When releasing an object in the manual mode, the Vacuum Gripper will: EPick - Instruction Manual...
  • Page 40 1. Open the release valve. 2. Object drop flag will be set when the vacuum level falls below 0.5%. 3. Release valve will be kept open for 1 second. Fig. 4-3: Vacuum level vs time in the Advanced mode...

  • Page 41: Very Porous Material Detection

    As soon as the grip command is received by the gripper: 1. The unknown object flag will be set (gOBJ=0b00). 2. If the vacuum level reaches the desired maximum vacuum level, the object secure to max flag will be set (gOBJ=0b10). EPick - Instruction Manual...

  • Page 42: Object Not Detected Behavior

    3. The vacuum generator will stop until the vacuum reach the desired minimum vacuum level. 4. The object secured to min flag will be set (gOBJ=0b01) and the vacuum generator will try to reach the maximum vacuum again. Object not detected behavior When a grip command is received, the gripper will use the desired timeout value as a maximum period of time to detect an object.

  • Page 43: Connection Setup

    Modbus RTU is a communication protocol based on a Big Endian byte order. Therefore, the 16-bit register addresses are transmitted with the most significant byte first. However, the data port is, in the case of Robotiq products, based on the Little Endian byte order.

  • Page 44: Control Over Tm

    4.8. Control over TM 4.8.1 . TM Robots compatibility with Robotiq Vacuum Grippers Hardware Version TM Flow Version TM Gripper Component Robotiq RS232 Converter HW1, HW2, HW3 1.68 and later VAC_V002_XXX Compatible 4.8.2. Getting Started Power ON the robot Tap the triple bar icon in the upper left corner of the screen...
  • Page 45 Enter your login credentials and click on OK Click on Get Control EPick - Instruction Manual...
  • Page 46 Click on the triple bar icon in the upper left corner of the screen and select Project Click on the New Project icon in the upper left corner of the screen...
  • Page 47 Enter a name for your program and click on the OK button EPick - Instruction Manual...

  • Page 48: Tm Vacuum Gripper Components

    4.8.3. TM Vacuum Gripper Components Here is the list of the current Robotiq Gripper TM Components to install on TM Robots: GRIPPER_ROBOTIQ_VAC_V002_SET.Component = SET the Vacuum Gripper (Advanced mode, Vacuum Levels, Timeout) GRIPPER_ROBOTIQ_VAC_V002_GRIP.Component = Grip a part (Action) GRIPPER_ROBOTIQ_VAC_V002_RELEASE.Component = Release a part (Action) GRIPPER_ROBOTIQ_VAC_V002_SELECTID.Component = Select the slave ID of the gripper when using a dual gripper setup...
  • Page 49 Click the Import button Click on TMComponent in the Robot List window and click on OK EPick - Instruction Manual...
  • Page 50 Click on the Component button of the Import navigation pane Select the Components you want to import and click on the Import button...
  • Page 51 Tap the triple bar icon and select Setting to display the Robot Setting window Click on the Component icon EPick - Instruction Manual...
  • Page 52 Enable required Components in the Components list by ticking the radio button beside each of them A Component that is enabled displays a green radio button; once the Components are enabled, click on the Save button...

  • Page 53: Gripper Button

    Create a new project or open an existing project, and locate the Gripper components in the navigation pane Gripper Button The user can assign Gripper Components to the Gripper button and use the latter to open and close the fingers of the Robotiq Gripper.
  • Page 54 Click on Gripper Button In the Gripper Button window, tick the Using Customized Component radio button and select the Component you want to assign to either one of the Gripper actions...
  • Page 55 In the pop-up window, select or change the Component you wish to assign to the Gripper action/button, and click OK EPick - Instruction Manual...

  • Page 56: Programming

    Programming SET Component Component Icon Component Node Drag and drop the SET Component icon after a program Gateway to place a SET program node (VAC_V002_SET1) Tap the SET node to highlight it and click on the pencil to edit the settings Fig.

  • Page 57: Advanced Mode

    False Set to true to use the Advanced mode of the gripper mode var_release_ Release_ 1000 EPick Time for the valve to shut off shutoff_time Settings var_release_ wait_for_ When set to true, the program will wait for an object detection...

  • Page 58: Grip Component

    GRIP Component Component Icon Component Node The grip component is used to activate the gripper suction and to pick an object. The grip component has three possible exits: 1. Detected: When an object is detected by the gripper 2. Not Detected: When no object is detected by the gripper 3.

  • Page 59: Selectid Component

    Component Icon Component Node Info Use the Robotiq User Interface to change the Modbus Slave ID Address of the second Vacuum Gripper when using a dual gripper (Default = 9). Changing the Modbus Slave ID The user can change the Modbus Slave ID of a Robotiq Vacuum Gripper via the Robotiq User Interface.
  • Page 60 Change the Slave ID of the Vacuum Gripper by typing in the corresponding box Click on the Apply button Perform a power cycle (24 V) while the USB device remains connected...
  • Page 61 EPick - Instruction Manual...

  • Page 62: User Interface

    5. User Interface Visit support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. See the instruction manual of the Robotiq User Interface for more details. EPick - Instruction Manual...

  • Page 63: Specifications

    Caution This manual uses the metric system, unless specified, all dimensions are in millimeters. The following subsections provide data on the various specifications for the Robotiq EPick Gripper. Section 6.1 lists the technical dimensions of the Gripper Dimensions for custom (blank) coupling Dimensions of all available couplings Section 6.2 presents the mechanical specifications of the Gripper.

  • Page 64: Technical Dimensions

    6.1 . Technical dimensions 6.1 .1 . Gripper The figure below represents the Gripper’s dimensions. Fig. 6-1: EPick general dimensions...

  • Page 65: Suction Cup System

    6.1 .2. Suction Cup System The figures below represent the dimensions of the components of the suction cup systems. Manifold Fig. 6-2: Manifold general dimensions Bracket for 2 suction cups EPick - Instruction Manual...

  • Page 66: Bracket For 4 Suction Cups

    Fig. 6-3: Two air nodes bracket's dimensions Bracket for 4 suction cups Fig. 6-4: Four air nodes bracket's dimensions...
  • Page 67 Fig. 6-5: Minimum and maximum arrangement possibilities of the air nodes position. EPick - Instruction Manual...

  • Page 68: Air Nodes

    6.1 .3. Air nodes Fig. 6-6: Air nodes dimensions...

  • Page 69: Couplings

    6.1 .4. Couplings Operating the Vacuum Gripper requires a coupling provided by Robotiq. The coupling is mandatory since it integrates electronics and electrical contacts. Blank coupling Below are the dimensions of the blank coupling, AGC-CPL-BLANK-002 (refer to the Spare Parts, Kits and Accessories section), available to create a custom bolt pattern.

  • Page 70: Coupling For Iso 9409-1-50-4-M6

    Coupling for ISO 9409-1 -50-4-M6 Bolt pattern for coupling GRP-CPL-062 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 50 mm pitch circle diameter : (4) M6-1.0 low head socket cap screw clearance (1) M6 indexing pin ISO 9409-1 standard 50-4-M6 Fig.

  • Page 71: Mechanical Specifications

    The Gripping and Release time is the time for one suction cup of 40 mm and can vary according to the suction cups configuration and vacuum level. Table 6-1: Specifications of the EPick Gripper Info All specifications are measured with coupling GRP-CPL-062.

  • Page 72: Payload And Force

    Chart 6-2: Flow (L/min) vs Vacuum (%) 6.2.1 . Payload and force When a load is to be picked by a Vacuum Gripper, several factors have to be considered. One of them is the vacuum level percentage selected. This value represents the pressure difference between the inside of the system and the ambient pressure. This table is valid for a nominal atmospheric pressure of 101,3 kPa.
  • Page 73 70.9 81.1 91.2 101.3 Table 6-3: Conversion of absolute pressure to vacuum level EPick - Instruction Manual...
  • Page 74 Fig. 6-9: Suction cup with inside diameter Depending on the selected suction cup, the maximum grip strength can be determined with the following equation: Where: A= Suction cups internal surface (mm P= Vacuum Level (kPa) n= Quantity of suction cups to lift-off For more details, please refer to the specifications provided by the suction cup manufacturer.

  • Page 75: Example 1: Non-Porous Material

    The maximum grip strength of the suction cup must always be bigger than the payload (F > F ) to guarantee the good grip of the piece. Robotiq recommends a minimum security factor of 2 in every case. However, a factor 4 is recommended for the next situations: Low friction coefficient Important robot acceleration...

  • Page 76: Case #2

    Example 2: Porous material For porous material, non-negligible air leakages can be observed. Therefore, the use of the EPick is not recommended. Considering that, the Vacuum Gripper will work in a continuous mode to compensate leakages and the reached vacuum will depend on 4 main factors: 1.
  • Page 77 Fig. 6-11: Porous material Info Robotiq recommends to do some tests to determine the maximum grip strength of the suction cup, depending on the selected material to lift. It is not recommended to operate the robot with vacuum levels lower than 10%.

  • Page 78: Case #1

    Initial data: Material type: porous Application type: Case #1 Case #1 m = 0.2 Kg g = 9.81 m/s a = 1.2 m/s S= 4 (recommended) A test has been made with this material and it was statistically possible (without any acceleration) to pick a mass of 1 kg. Since, F >F (9.81N >...

  • Page 79: Center Of Mass And Tool Center Point

    6.2.2. Center of mass and tool center point Couplings are included in the calculations when Vacuum Grippers are not mounted on the Robotiq Wrist Camera. Dual Gripper adapter plates are included where appropriate Fig. 6-12: Center of mass and tool center point matrix.

  • Page 80: Moment Limitation

    6.2.3. Moment Limitation The Vacuum Gripper has a maximum moment. The listed moment is independent to the force applied by the Gripper itself on it's payload. For payload calculation, refer to the Mechanical specifications section. Warning The following limits must be respected at all time. Calculation of maximum moment should include the robot acceleration and a safety factor.

  • Page 81: Maintenance

    Following the maintenance interval will ensure : Correct functioning of the Vacuum Gripper. Validity of the warranty. Proper lifetime of the Vacuum Gripper. Warning Unless specified, any repairs done on the Vacuum Gripper will be done by Robotiq. Operation Daily Monthly 1 M cycles or...

  • Page 82: Vacuum Gripper Cleaning

    Retaining ring plier Table 7-2: Vacuum Gripper cleaning intervals Caution The EPick Vacuum Gripper is not waterproof or water resistant without additional protection, only clean the Gripper with a dry towel. Caution Always turn off the robot, the Vacuum Gripper power supply before performing any maintenance operation on it.

  • Page 83: Periodic Inspection

    Apply medium strength thread locker to the M5 screws. When cleaning the Vacuum Gripper verify the wear of the suction cup. If wear is visible, change the suction cup. Please refer to the Spare Parts, Kits and Accessories section to order EPick replacement parts. 7.2. Periodic inspection...

  • Page 84: Suction Cups And Air Nodes

    2. Inspect the Vacuum Gripper : a. Check for any collision damage. If damage is visible, contact support@robotiq.com. b. Check for any sign of wear on the Vacuum Gripper chassis. If wear is present and may affect the Vacuum Gripper, con- tact support@robotiq.com.

  • Page 85: Spare Parts, Kitsand Accessories

    Spare parts, kits and accessories list: Item Description Ordering Ordering Ordering Number Number Number (1 Cup) (2 Cups) (4 Cups) Kit for TM Robot EPick Kit for TM VAC-TM- VAC-TM- VAC-TM-EPICK- EPICK-KIT1 EPICK-KIT2 KIT4 Kit for Omron-TM EPick Kit for Omron-TM VAC- VAC-OMRON- VAC-OMRON- OMRON-...
  • Page 86 Item Description Ordering Ordering Ordering Number Number Number (1 Cup) (2 Cups) (4 Cups) Air node Plug and Air node Plug and Play VAC-SCS-NODE Play Vacuum Cup 1.5 Vacuum Cup 1.5 Bellow 40 mm VAC-SCS-CUP40-2 Bellow 40 mm Vacuum Cup 1.5 Vacuum Cup 1.5 Bellow 55 mm VAC-SCS-CUP55-2 Bellow 55mm...
  • Page 87 61.4 mm PCD 1 with (2) M6 indexing pins Adapter plate to Wrist adapter plate for use with AGC-CPL-064- AGC-APL-153-002 80-6M8-2D82D8 002. Interface to 80 mm PCD with (6) M8 screws and (2) M8 indexing pins EPick - Instruction Manual...

  • Page 88: Troubleshooting

    If you are not able to attain the desired vacuum level or if a diminution of the vacuum level occurs, verify: The suction cups status That the air path is clean and not obstructed (including the manifold) If a filter cleaning is necessary EPick - Instruction Manual...

  • Page 89: Warranty

    Robotiq shall not be liable for damages resulting from the use of the EPick Gripper, nor shall Robotiq be responsible for any failure in the performance of other items to which the EPick Gripper is connected or the operation of any system of which the Vacuum Gripper may be a part.
  • Page 90 Vacuum Gripper or other factors beyond Robotiq's control. Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring any...

  • Page 91: Harmonized Standards, Declarations And Certificates

    1 1 . Harmonized Standards, Declarationsand Certificates 1 1 .1 . Original EC declaration of incorporation EPick - Instruction Manual...

  • Page 92: Applied Standards

    1 1 .2. Applied standards This section describes all applied harmonized standards for the design and production of the EPick Vacuum Gripper. Conformity of the product is only met if all instructions of the current user manual are followed. Among others; proper installation, safety measures and normal usage must be respected.

  • Page 93: Contact

    (01) 418-380-2788 Outside USand Canada 1-418-800-0046 Technical support and engineering option 3 Sales option 2 Head office Robotiq: 966, chemin Olivier Suite 500 St-Nicolas, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. dof.robotiq.com EPick - Instruction Manual...

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