ROBOTIQ AirPick Instruction Manual
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ROBOTIQ AirPick Instruction Manual

Vacuum gripper for cb-seriesuniversal robots
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Original Notice
© 2019 Robotiq Inc.
Robotiq AirPick Vacuum Gripper
for CB-Series Universal Robots
robot iq.com | leanrobot ics.org
Instruction Manual

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Summary of Contents for ROBOTIQ AirPick

  • Page 1 Original Notice © 2019 Robotiq Inc. Robotiq AirPick Vacuum Gripper for CB-Series Universal Robots robot iq.com | leanrobot ics.org Instruction Manual...
  • Page 2 3.1.1. Robotiq AirPick Vacuum Gripper Kit 3.1.2. Universal Robots Wrist Connection Kit for CB-Series AirPick Wrist Connect Kit for UR CB-Series / One (1) cup (VAC-CB-UR-AIRPICK-KIT1-W) AirPick Wrist Connect Kit for UR CB-Series / Two (2) cups (VAC-CB-UR-AIRPICK-KIT2-W) AirPick Wrist Connect Kit for UR CB-Series / Four (4) cups (VAC-CB-UR-AIRPICK-KIT4-W) 3.2.
  • Page 3 Firmware Update Mechanical Installation 3.4.2. Air tubing Connection of the suction cup systems Connection of the air supply line to the AirPick Vacuum Gripper 3.4.3. Suction cup system Manifold and mounting bracket Suction cups and air nodes 3.5. Electrical Setup 3.5.1.
  • Page 4 Features 4.8.5. Vacuum Gripper node Command window Grip Command Release Command Features Advanced Vacuum Gripper Functions 5. User Interface 6. Specifications 6.1. Technical dimensions 6.1.1. Gripper 6.1.2. Suction Cup System Manifold Bracket for 2 suction cups AirPick - Instruction Manual...
  • Page 5 Bracket for 4 suction cups 6.1.3. Air nodes 6.1.4. Couplings Blank coupling Coupling for ISO 9409-1-50-4-M6 Coupling for ISO 9409-1-31.5-4-M5 Coupling for ISO 9409-1-40-4-M6 Coupling for PCD 56 with 8 x M4 Coupling for PCD 56 with 6 x M4 Coupling for PCD 60 with 4 x M5 Coupling for PCD 63 with 6 x M6 6.2.
  • Page 6 11.2. Applied standards 12. Appendix 13. Contact AirPick - Instruction Manual...
  • Page 8 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 9 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 10: General Presentation

    1 .1 .1 . AirPick Gripper The AirPick is a vacuum Gripper that creates a vacuum via a pneumatic vacuum generator. It is equipped with one or multiple suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper is compatible with the Robotiq standard coupling interface.
  • Page 11 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. Fig. 1-2: Suction cup system Info Please refer to the Installation section for more information on how to integrate the Suction Cup System to AirPick.

  • Page 12: Setup And Control

    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 AirPick Gripper has to be connected to a Gripper coupling which provides both the mechanical and electrical connectivity to the Gripper.
  • Page 13 The AirPick 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 14 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 15 Make sure that the provided white safety clip is properly installed before pressurizing the Vacuum Gripper. 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 16: Intended Use

    The Gripper unit is designed for gripping and temporarily securing or holding objects. Caution The Gripper is NOT intended for applying force against objects or surfaces. The product is intended for installation on a robot or other automated machinery and equipment. AirPick - Instruction Manual...
  • Page 17 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.

  • Page 18: 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 19 One (1) Tubing 8 mm - (8 m) Required hardware 3.1 .2. Universal Robots Wrist Connection Kit for CB-Series AirPick Wrist Connect Kit for UR CB-Series / One (1 ) cup (VAC-CB-UR-AIRPICK-KIT1 -W) 1 x Robotiq AirPick Gripper 1 x I/O Coupling Kit (IO-CPL-UR-CB-KIT)
  • Page 20 Hardware required for accessories or fixtures, unless specified. Info When purchased as a kit, the AirPick Vacuum Gripper will come in a package with the appropriate coupling, suction cups and cabling. Please refer to the Spare Parts, Kits and Accessories section for additional components.

  • Page 21: Required Tools And Equipment

    Humidity (non-condensing) 20-80% RH IP Rating IP 4X Table 3-1: Environmental and operating conditions of the AirPick Vacuum Gripper Caution Use of the Vacuum Gripper is not recommended in presence of chemicals in the environment. 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.

  • Page 22: Air Supply

    2. Fasten the Gripper to the coupling using the provided M5 screws and tooth lock washers. 3. Plug the device cable into the gripper's pigtail and attach the cable along the robot arm using a cable routing system. AirPick - Instruction Manual...
  • Page 23 Fig. 3-1: Installing the Vacuum Gripper onto the robot wrist Multiple Vacuum Grippers When installing multiple grippers on one robot, every Vacuum gripper must have its own coupling. 1. Install a mounting plate (not provided) first on the robot arm (AGC-APL-159-02). 2.
  • Page 24 Robots CB-Series tool flange. It removes the need of any cable management and avoids downtime caused by cable issues. Depending on the robot tool I/Os, the I/O Coupling will send the selected presets to the Robotiq Vacuum Gripper to allow its full programming.

  • Page 25: Firmware Update

    The I/O Coupling comes with four (4) factory presets, as shown in the table below. These four (4) presets can be reconfigured on a computer before using them on a robot. Info To configure the presets, please follow the instructions in the Robotiq User Interface (RUI) manual, available on support.robotiq.com. Preset 1...
  • Page 26 4. You can now use your Gripper with the four (4) factory presets on the I/O Coupling. You can also program and save your own pre- sets by connecting the I/O Coupling to your PC using the USB cable and without having a robot connected. To do so, refer to the Robotiq User Interface Manual available at support.robotiq.com. AirPick - Instruction Manual...

  • Page 27: Air Tubing

    Info To facilitate the assembly of the Robotiq Wrist Camera and the AirPick 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...
  • Page 28 Fig. 3-5: Air tubes alignment Connection of the air supply line to the AirPick Vacuum Gripper Follow the steps below: Step #1 Step #2 Step #3 Ensure the safety clip is properly Insert the air tube in the AirPick port...
  • Page 29 Info Use dry and filtered air only. Follow standard ISO 8573-1, class 3.4.3. We recommend using a local pressure regulator with a filter and air dryer. 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 30: 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. AirPick - Instruction Manual...
  • Page 31 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 32 If additional cables are used, suggested cable specifications are: Power supply, fusing Minimum #22 AWG TEW, 300 V or 600 V RS485 signal Minimum #24 AWG TEW, 300 V or 600 V A and B signals must be balanced at 120 Ohms AirPick - Instruction Manual...
  • Page 33 Single Gripper Prior to any software installation on Universal Robots, connect the white, blue and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller.
  • Page 34 RUI) Use the provided RS-485 to USB converter ACC-ADT-USB-RS485 (refer to the figure below) to plug into a PC with the Robotiq User Interface installed. 2. Power up your Gripper with the previously recommended power supply.
  • Page 35 Fig. 3-15: Wiring possibilities of the USB to RS-485 converter. Fig. 3-16: Wiring possibilities of the USB to RS-485 converter.

  • Page 36: Installation For Universal Robots

    3.7. Installation for Universal Robots The table below shows which Robotiq software to use with your Universal Robots’ controller. Please refer to the URCap Package section for the installation of the UR software package for the Vacuum Gripper. Robotiq Software CB3.1 Controller...
  • Page 37 Caution The robot’s PolyScope version must be 3.7 or later in order to install the URCap package. The Gripper’s URCap package contains: The URCap for the Gripper The Vacuum Gripper toolbar The Vacuum node(s) For details on controlling the Gripper, please refer to the Software section. Info Please refer to the Control over Universal Robots with URCap section for detailed information on how to program using the URCap package.
  • Page 38 Follow this procedure to install the Vacuum Gripper URCap package: Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Gripper’s URCap package. Go to support.robotiq.com, and select the Universal Robots brand. Select AirPick. Click on Software → Gripper Software Download the UCG-X.X.X and extract it on the root of a blank USB...
  • Page 39 Tap the plus button (+) to add the Gripper’s URCap package. Open Robotiq_Grippers-X.X.X.urcap. Restart PolyScope to complete the URCap install- ation. By doing so, you accept the License Agree- ment that is detailed in the URCap Information text box (see below for the License Agreement). When PolyScope reopens, the Gripper toolbar will appear on the screen.
  • Page 40 USB-RS485) must be used. Use M12 splitters (ACC-SPLIT-M12-2:1) to connect all the grippers pigtails to one 10m cable (CBL-COM- 2065-10-HF) that connects to the RS485 to USB converter. Fig. 3-17: Multiple Grippers wiring on CB-Series Univeersal Robots AirPick - Instruction Manual...
  • Page 41 When installing multiple grippers on one URrobot, their gripper ID must be set properly. To do so, perform the following steps for each gripper: Connect only one Vacuum Gripper at a time using the M12 splitter. From the PolyScope home page, go to Program Robot and then tap the Installation tab.
  • Page 42 Once all grippers IDs have been set, connect them all to the M12 splitter. Go back to the Dashboard tab and confirm that all grip- pers arerecognized and can be controlled. AirPick - Instruction Manual...
  • Page 43 3.8.2. Uninstalling URCap Package If you want to uninstall the Vacuum Gripper URCap, follow the procedure below: Go to Setup Robot. Tap URCaps Setup. In the Active URCaps box, tap the URCap to uninstall. Tap the minus (-) button to uninstall the URCap.

  • Page 44: License Agreement

    1.4 hereof including their modifications and upgrades and their related materials; 3. “ 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 45 a link to proceed to such installation will be made available thereof. A new version of the Software shall not be covered by this Section 4 but shall require that a new End-User Software License Agreement be entered into between the Licensor and the End- User.
  • Page 46 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. AirPick - Instruction Manual...
  • Page 47 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. AirPick - Instruction Manual...
  • Page 48 4.1 .2. Control over Universal Robots package Robotiq provides Universal Robots packages to be used with URCaps (require CB3.1 robot controller or later versions). Please refer to the Control over Universal Robots with URCap section for instructions on how to use the Gripper URCap. This method...

  • Page 49: Robot Output Registers & Functionalities

    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 AirPick - Instruction Manual...
  • Page 50 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 51 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. AirPick - Instruction Manual...
  • Page 52 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 53: 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 AirPick - Instruction Manual...
  • Page 54 Major faults (0xA <= gFLT <= 0xF) (LED blinking red/blue) - 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 55 Info While booting, status LED will be solid blue/red. kFLT Please refer to the optional Robotiq Universal 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 56: Object Detection

    4.4.1 . Single Gripper UCH-1 .0.0 Object Detection To use the object detection feature, the tool inputs can be used. Tool inputs configuration and object detect status are: Associated Functions Status rq_wrist_conn_is_obj_0( ) Unknown object detection. Regulating towards requested vacuum/pressure. rq_wrist_conn_is_obj_1( ) Object detected.

  • Page 57: Automatic Mode

    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 0.1 second. Fig. 4-2: Vacuum level vs time in the automatic mode AirPick - Instruction Manual...

  • Page 58: Advanced Mode

    Advanced mode The advanced mode is selected when rMOD==0b01. In this mode, the user can set the desired vacuum levels and timeout/delay required to grip/release the object. Behavior of the manual mode only depends on the maximum vacuum level, minimum vacuum level and the timeout/delay registers.
  • Page 59 Fig. 4-3: Vacuum level vs time in the Advanced mode AirPick - Instruction Manual...
  • Page 60 Fig. 4-4: Vacuum level vs time in the continuous mode Very porous material detection When a very porous material is detected or when the suction wears out, the Vacuum Gripper will detect it and react according to the gripper mode. When this condition occurs, it is important to find the underlying reason because it will make the vacuum generator start and stop very rapidly.

  • Page 61: Control Logic

    Modbus master that will adequately communicate with the Gripper. For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus over serial line specification and implementation guide available at: http://www.modbus.org/docs/Modbus_over_serial_line_V1_02.pdf. AirPick - Instruction Manual...

  • Page 62: 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 63 A Gripper firmware is required to use your Vacuum Gripper with the I/O Coupling. Make sure you have the latest version installed: GV1-1.0.3. If an update is necessary on the I/O Coupling or the Vacuum Gripper, the Robotiq User Interface (RUI) will warn you and request the execution.
  • Page 64 You can test the 4 presets by clicking on the Wrist Connection Toolbar. For each Wrist connection node, select the desired presets. You can click on the Test button to try each preset.
  • Page 65 The Vacuum node: The URCap package includes a node that is used to add and edit a Vacuum Gripper command. The node can make the device grip a workpiece, release a workpiece, set the vacuum distribution level, apply a manual timeout, and establish a shut off distance. AirPick - Instruction Manual...
  • Page 66 4.8.3. Vacuum Gripper Scan Fig. 4-6: Vacuum gripper scan 1. On the teach pendant, tap the Installation button. 2. Tap Vacuum in the navigation pane on the left. 3. Select the Dashboard tab. 4. Tap the Scan button. 4.8.4. Vacuum Gripper Toolbar Overview The Vacuum Gripper Toolbar is used to test the Gripper.
  • Page 67 Period after which a gripper error is generated. A 0 means that there is Timeout no timeout. Allows the vacuum gripper to perform suction while it moves an object Continuous grip from one place to an other. Opens an informational pop-up to provide information to the user Help AirPick - Instruction Manual...
  • Page 68 Functionality Description name regarding the Gripper status and the Object status. 4.8.5. Vacuum Gripper node To add and edit a Vacuum Gripper node inside your robot program, follow these steps: 1. Tap Program Robot. 2. Open or load an empty program. 3.
  • Page 69 Tap the textbox next to Minimum level and use the numpad to enter a value between 0% and the maximum vacuum level Tap the textbox next to Timeout and use the numpad to enter a value between 0 and 25,500 ms. The user can program using the object detection feature by ticking the Wait for object detected. AirPick - Instruction Manual...

  • Page 70: Release Command

    Functionality name Description Release Toggles to the Release mode. Manual mode selector: allows the user to set the maximum/minimum vacuum distribution levels, the timeout Advanced Settings as well as the continuous mode . This mode allows a complete customization of the vacuum distribution to meet the user’s specific application needs.
  • Page 71 Returns True if the Vacuum Gripper has detected an object. Returns False if Vacuum Gripper has not detected an object. Useful for verifying that an object has been picked correctly before going to the next step. AirPick - Instruction Manual...
  • Page 72 rq_set_gripper_max_cur(current_mA, Sets the Vacuum Gripper maximum supply current in mA. gripperId)

  • Page 73: 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. AirPick - Instruction Manual...

  • Page 74: 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 AirPick 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 75 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...
  • Page 76 The C detail view represents an hexagonal opening to allow the insertion of a 4 mm hex key to screw and unscrew the captive screws directly on the robot coupling, which allow you to easily install and uninstall the AirPick Gripper.
  • Page 77 Fig. 6-4: Four air nodes bracket's dimensions Fig. 6-5: Minimum and maximum arrangement possibilities of the air nodes position.
  • Page 78 6.1 .3. Air nodes Fig. 6-6: Air nodes dimensions AirPick - Instruction Manual...

  • Page 79: Blank Coupling

    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 80 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. 6-8: Coupling for ISO 9409-1-50-4-M6. AirPick - Instruction Manual...
  • Page 81 Coupling for ISO 9409-1 -31 .5-4-M5 Bolt pattern for coupling GRP-CPL-063 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 31.5 mm pitch circle diameter : (4) M5-0.8 low head socket cap screw clearance (1) M5 indexing pin ISO 9409-1 standard 31.5-4-M5 Fig.
  • Page 82 Bolt pattern for coupling GRP-CPL-064 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 40 mm pitch circle diameter : (4) M6-1.0 low head socket cap screw clearance (1) M6 indexing pin ISO 9409-1 standard 40-4-M6 Fig. 6-10: Coupling for ISO 9409-1-40-4-M6. AirPick - Instruction Manual...
  • Page 83 Coupling for PCD 56 with 8 x M4 Bolt pattern for coupling AGC-CPL-065-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 56 mm pitch circle diameter : (8) M4-0.7 low head socket cap screw clearance (1) M4 indexing pin 62 mm diameter internal insert Fig.
  • Page 84 Bolt pattern for coupling AGC-CPL-066-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with: 56 mm pitch circle diameter: (6) M4-0.7 low head socket cap screw clearance (1) M6 indexing pin 42 mm diameter external insert Fig. 6-12: Coupling for PCD 56 mm with 6 x M4 clearance. AirPick - Instruction Manual...
  • Page 85 Coupling for PCD 60 with 4 x M5 Bolt pattern for coupling AGC-CPL-067-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 60 mm pitch circle diameter : (4) M5-0.8 low head socket cap screw clearance (1) M5 indexing pin 34 mm diameter external insert Fig.
  • Page 86 Bolt pattern for coupling AGC-CPL-068-002 (refer to the Spare Parts, Kits and Accessories section) is compatible with : 63 mm pitch circle diameter : (6) M6-1.0 low head socket cap screw clearance (2) M6 indexing pins Fig. 6-14: Coupling for PCD 63 mm with 6 x M6 clearance. AirPick - Instruction Manual...

  • Page 87: 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 AirPick Gripper The AirPick pneumatic schema can be found in the Appendix section. Info All specifications are measured with coupling GRP-CPL-062.
  • Page 88 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. Vacuum level (%) Pressure difference (kPa) 10.1 20.3 30.4 40.5 50.7 60.8 70.9 AirPick - Instruction Manual...
  • Page 89 81.1 91.2 101.3 Table 6-3: Conversion of absolute pressure to vacuum level...
  • Page 90 The payload is the mass to be lifted according to an acceleration and an applied safety factor. There are three main types of load application that are represented in the following cases. Note that the arrows represent the robot movement. Case #1 Case #2 Case #3 AirPick - Instruction Manual...
  • Page 91 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 92 For porous material, non-negligible air leakages can be observed. 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. Pump flow rate 2. The model of suction cups 3. Porosity of materials 4. Payload to lift AirPick - Instruction Manual...
  • Page 93 Fig. 6-17: 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 94 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 > 8.8 N), it is possible to lift a mass of 0.2 kg, as required. AirPick - Instruction Manual...
  • Page 95 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. 6-18: Center of mass and tool center point matrix.

  • Page 96: Electrical Specifications

    Parameters Maximum Value Total moment 150 Nm Table 6-4: Moment limitation of the Vacuum Gripper Fig. 6-20: AirPick Moment limitation 6.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 VDC ± 10% Quiescent power (minimum power 1.2 W...

  • Page 97: 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. 1 M cycles or Operation Daily Monthly...
  • Page 98 Retaining ring plier Table 7-2: Vacuum Gripper cleaning intervals. Caution The AirPick 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 and depressurize the air supply tube before performing any maintenance operation on it.

  • Page 99: 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 AirPick replacement parts. 7.2. Periodic inspection...
  • Page 100 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 101: Spare Parts, Kitsand Accessories

    Vacuum Cup 1.5 Vacuum Cup 1.5 Bellow 55 mm VAC-SCS-CUP55-2 Bellow 55mm Replacement filter Filter for vacuum generator VAC-SCS-FILTER AirPick Gripper, I/O Coupling Kit for Universal AirPick Wrist Robots CB-Series, 1 Vacuum cup, tubing connection Kit UR (VAC-CB-UR-AIRPICK-KIT1-W) AirPick - Instruction Manual...
  • Page 102 Number Number (1 Cup) (2 Cups) (4 Cups) CB-Series/ One (1) AirPick Wrist AirPick Gripper, I/O Coupling Kit for Universal connection Kit UR Robots CB-Series, 1 Suction System for two (2) (VAC-CB-UR-AIRPICK-KIT2-W) CB-Series/ Two (2) cups, tubing cups AirPick Wrist...
  • Page 103 (4 Cups) 61.4 mm PCD 1 with (2) M6 indexing pins Wrist adapter plate for use with AGC-CPL-064-002. Adapter plate to Interface to 80 mm PCD with (6) M8 screws and (2) AGC-APL-153-002 80-6M8-2D82D8 M8 indexing pins AirPick - Instruction Manual...

  • Page 104: Troubleshooting

    Red flashes at slow rate. i. Check the DB-9 connector. ii. Check the cable. iii. Check the communication parameters from the Robotiq User Interface, see recovery procedure. iv. Contact support. Red and green flashing at high speed. i. Check fault status, maximum operating temperature could be exceeded.
  • Page 105 When using AirPick vacuum gripper with Universal Robots package: Troubleshooting from the previous section (LED references) still applies. From the UR teach pendant: URCap install: 1. Verify that the latest URCap is installed from the Robot Setup menu, inside the URCaps tab a.
  • Page 106 2. Driver is installed but Gripper cannot be controlled : a. If Gripper LED is not blue, follow the steps in the first section above b. If Gripper LED is blue, driver is installed with the latest available version, contact support@robotiq.com 9.2. Vacuum Gripper verification...
  • Page 107 9.3. I/ O Coupling Troubleshooting To take the control back of the I/O Coupling, follow the steps: Remove the USB cable; Select User in the Controlled by drop down menu...
  • Page 108 Use the 24V slider in the I/O tab under the Tool Output section to slide it to 0 and then back to 24V. It should enable the com- munication with the robot. AirPick - Instruction Manual...
  • Page 109 Robotiq shall not be liable for damages resulting from the use of the AirPick Gripper, nor shall Robotiq be responsible for any failure in the performance of other items to which the AirPick Gripper is connected or the operation of any system of which the Vacuum Gripper may be a part.
  • Page 110 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 obligation to make any changes whatsoever on units already purchased.
  • Page 111 1 1 . Harmonized Standards, Declarationsand Certificates 1 1 .1 . Original EC declaration of incorporation AirPick - Instruction Manual...
  • Page 112 1 1 .2. Applied standards This section describes all applied harmonized standards for the design and production of the AirPick 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 113 1 2. Appendix Fig. 12-1: Pneumatic schema of the AirPick Vacuum Gripper AirPick - Instruction Manual...
  • Page 114 (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 AirPick - Instruction Manual...

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