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ROBOTIQ EPick Original Notice

Vacuum gripper for cb-series universal robots
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Original Notice
© 2021 Robotiq Inc.
Robotiq EPick Vacuum Gripper
for CB-Series Universal Robots
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ EPick

  • Page 1 Original Notice © 2021 Robotiq Inc. Robotiq EPick Vacuum Gripper for CB-Series Universal Robots robotiq.com | leanrobotics.org Instruction Manual...
  • Page 2 3.1. Scope of Delivery 3.2. Required Tools and Equipment 3.3. Environmental and Operating Conditions 3.4. Mechanical Installation 3.5. Electrical Setup 3.6. Testing the Gripper with the Robotiq User Interface (RUI) 3.7. Installation for Universal Robots 3.8. URCap Package 4. Software 4.1. Overview 4.2.
  • Page 3 7.1. Vacuum Gripper cleaning 7.2. Periodic inspection 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Communication 9.2. Vacuum Gripper verification 9.3. I/O Coupling Troubleshooting 10. Warranty 10.1. I/O Coupling Warranty 11. Harmonized Standards, Declarations and Certificates 11.1. Original EC declaration of incorporation 11.2.
  • Page 4 EPick - Instruction Manual...
  • Page 5 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 Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.

  • Page 7: General Presentation

    1.1.1. EPick Gripper The EPick Gripper is a vacuum Gripper that generates a vacuum with an electric vacuum pump.. It is equipped with one or multiple suction cups. Each suction cup can be adapted to your application and grasping needs. The EPick Gripper is compatible with the Robotiq standard coupling interface.
  • Page 8 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: 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 EPick Gripper has to be connected to a Gripper coupling which provides both the mechanical and electrical connectivity to the Gripper.
  • Page 10 Accessories section for a list of the available couplings. 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 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 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

    Loss of vacuum can occur due to power failure. 2.2. 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. EPick - Instruction Manual...
  • Page 14 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 15: 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 16 One (1) USB to RS485 signal converter Required hardware 3.1.2. Universal Robots Wrist Connection Kit for CB-Series EPick Wrist Connect Kit for UR CB-Series /One (1) cup (VAC-CB-UR-EPICK-KIT1-W) Included: 1 x Robotiq EPick Gripper 1 X I/O Coupling Kit (IO-CPL-UR-CB-KIT) including:...
  • Page 17 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. Please refer to the Spare Parts, Kits and Accessories section for additional components.

  • Page 18: Required Tools And Equipment

    Maximum operating temperature 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.

  • Page 19: Mechanical Installation

    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. EPick - Instruction Manual...
  • Page 20 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 21 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 22 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 23 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 presets by connecting the I/O Coupling to your PC using the USB cable. To do so, refer to the Robotiq User Interface Manual available at robotiq.com/support.

  • Page 24: 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...
  • Page 25 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. EPick - Instruction Manual...
  • Page 26 Fig. 3-6: Mounting example of the four suction cups assembly on the vacuum generator Warning Any unused manifold port should be covered with a provided port plug to avoid air leakage. For more details, please refer to the Manifold section Suction cups and air nodes Whether you are using a standard or custom option, air nodes should be used to connect the suction cups and the air tubing, and to prevent air leakage as much as possible.

  • Page 27: Electrical Setup

    3.5.1. Electrostatic Discharge Safety The EPick Vacuum Gripper is not ESD safe. If the Vacuum Gripper is installed properly using the toothlock washers, the casing is grounded through the screwsthat are used to mount the gripper on the coupling. The same thing is true for the coupling. For the EPick Vacuum Gripper, the lower part connected by 4 screws to the casing, as well as the suction cups and the accessories provide, are isolated from the rest of the gripper.
  • Page 28 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 29 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 EPick - Instruction Manual...
  • Page 30 Single Vacuum 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 31 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 : 1. Follow the instructions to install the Robotiq User Interface, or RUI (refer to the instruction manual of the RUI available on the support website).

  • Page 32: Installation For Universal Robots

    Fig. 3-15: Wiring possibilities of the USB to RS-485 converter. 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.
  • Page 33 3.8. URCap Package Robotiq provides the user with a Universal Robots URCap package that provides a graphical user interface and enables direct serial communication to your UR controller. Info Browse to the Vacuum Gripper support page to download the URCap package.
  • Page 34 Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Grip- per’s URCap package. Go to support.robotiq.com, and select the Universal Robots brand. Select EPick . Click on Software → Gripper Software Download the UCG-X.X.X and extract it on the root of a blank...
  • Page 35 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. EPick - Instruction Manual...
  • Page 36 Multiple Grippers It is possible to connect and control up to four Vacuum grippers on the same UR robot. Only one RS485 to USB converter (ACC- ADT-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.
  • Page 37 ID, communication issues will arise. Once all grippers IDs have been set, connect them all to the M12 splitter. Go back to the Dashboard tab and confirm that all grippers are recognized and can be controlled. EPick - Instruction Manual...
  • Page 38 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. In the Active URCaps box, tap the URCap to uninstall. Tap the minus (-) button to uninstall the URCap.

  • Page 39: 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 “Licensor’s Business”);...
  • Page 40 Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Web- site http://robotiq.com/ where a link to proceed to such installation will be made available thereof. A new version of the Soft- ware 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 41 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 soient rédigés en anglais seulement. EPick - Instruction Manual...
  • Page 42 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 43 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...

  • Page 44: 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 EPick - Instruction Manual...
  • Page 45 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 46 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. EPick - Instruction Manual...
  • Page 47 0x00 (0d0) - No timeout. 0x0A (0d10) - 1 sec timeout period. 0xFF (0d255) - 25.5 sec timeout period. 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.

  • Page 48: Robot Input Registers & Status

    0b00 - Unknown object detection. Regulating towards requested vacuum/pressure. 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. EPick - Instruction Manual...
  • Page 49 Register: GRIPPER STATUS EXTENSION Address: Byte 1 Bits Symbols Reserved gVAS gVAS (Vacuum actuator status) The rVAS bits indicates the status of the gripper actuators. 0b00 - Standby. Vacuum generator and valves deasserted (OFF). 0b01 - Gripping. Vacuum generator ON. 0b10 - Passive releasing.
  • Page 50 0xF - Automatic release completed (Vacuum/pressure not detected) 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...
  • Page 51 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 52: Automatic Mode

    Open the release valve. Object drop flag will be set when the vacuum level falls below 0.5%. Release valve will be kept open for 1 second. Fig. 4-2: Vacuum level vs time in the automatic mode EPick - Instruction Manual...

  • Page 53: 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 54 When this condition occurs, it is important to find the underlying reason because it will make the vacuum generator start and stop very rapidly. This can lead to a premature wear of the gripper internal mechanics. EPick - Instruction Manual...
  • Page 55 In automatic mode, no fault will be set, but the gripper will continuously run the vacuum generator until a release command is received. In advanced mode, a fault flag will be set (gFLT=0x3) and the gripper will continue to run with the desired settings. Object lost/ drop behavior When an object is lost or dropped, the gripper will set an object flag (gOBJ=0b11).

  • Page 56: Control Logic

    02.pdf. For debugging purposes, the reader is also invited to download one of many free Modbus master such as the CAS Modbus Scanner from Chipkin Automation Systems available at: http://www.store.chipkin.com/products/tools/cas-modbus-scanner. EPick - Instruction Manual...

  • Page 57: 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. As such, the data parts of Modbus RTU messages are sent with the less significant byte first.

  • Page 58: Preset Single Register (Fc06)

    Examples of use of these data are action request, maximum vacuum level, minimum vacuum level, etc. Example of setting multiple registers FC06: This message request sets the maximum relative pressure level. Request is: 09 06 03 E9 00 19 95 A3 EPick - Instruction Manual...

  • Page 59: Preset Multiple Registers (Fc16)

    Bits Description Slave ID Function Code 06 (Preset Single Registers) 03E9 Address of the requested register 0019 Value written in register 03E9 (Maximum pressure level = 75%) 98F8 Cyclic Redundancy Check (CRC) Response is: 09 06 03 E9 00 19 95 A3 Bits Description Slave ID...

  • Page 60: Master Read & Write Multiple Registers (Fc23)

    Status and Position Request Echo. It also sets the position request, speed and force of the Vacuum Gripper by writing to registers 0x03E9 (1001) and 0x03EA (1002). Request is: 09 17 07 D0 00 02 03 E9 00 02 04 00 19 0A 23 4A D3 Bits Description Slave ID EPick - Instruction Manual...
  • Page 61 The whole sequence can not exceed 5 seconds The Robotiq Vacuum Gripper must be connected to the I/O Coupling. The I/O Coupling detection of the Vacuum Gripper has to be confirmed (led blue) before doing the sequence, otherwise it will not be valid.
  • Page 62 Digital Input 0 Digital Input 1 High High After the activation, use a release preset (default is preset 4) to make sure that the next grip preset used will be different and detected by the I/O Coupling. EPick - Instruction Manual...
  • Page 63 A Gripper firmware update is required to use your Vacuum Gripper with the I/O Coupling. Make sure you have the latest version installed: GU1-2.0.2 . 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 The Wrist connection Activation node will activate the device in the program. For each Wrist connection node, select the desired presets. You can click on the Test button to try each preset. EPick - Instruction Manual...
  • Page 65 The Wrist Grip Check node is pre-packaged as an If statement that prompts the user to select between if the object is detected and if the object is not detected.
  • Page 66 Activate the Vacuum Gripper To make sure to operate the Vacuum Gripper, set the voltage at 24V: Click on the I/O tab. In the Tool Output section, select Robotiq_Wrist_connection on the Controlled by drop down menu. EPick - Instruction Manual...
  • Page 67 4.8.2. Control with the Standard Coupling Kit The URCap package contains several features to program and control the Vacuum Gripper. The package comprises: The Vacuum Gripper Toolbar: automatically installed with the URCap package. It allows to test the vacuum distribution. It is a great tool to try gripping workpieces while programming.
  • Page 68 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. EPick - Instruction Manual...
  • Page 69 Fig. 4-7: Vacuum Gripper Toolbar Features Functionality Description name Manual mode selector: Allows the user to set the maximum/minimum vacuum distribution levels, the timeout as Advanced well as the continuous mode . This mode allows a complete settings customization of the vacuum distribution to meet the user’s specific application needs.

  • Page 70: Command Window

    Manual mode will mainly be documented. Grip Command The control of four (4) Vacuum Grippers can be done at the same time. On the Command tab, tick the number of ID associated to the Vacuum Grippers you need. EPick - Instruction Manual...
  • Page 71 Fig. 4-8: Command window with the control of four Vacuum Grippers at the same time In the Command window, tap the Grip tab. Tap the Advanced settings checkbox Tap the textbox next to Maximum level and use the numpad to enter a value between 0% and 100% 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.
  • Page 72 Tap the textbox next to Shutoff distance and use the numpad to enter a value indicating the travel distance at which the pump will stop distributing the pressure after a Release command. The user can program using the object detection feature by ticking the Wait until object is released in the Options. EPick - Instruction Manual...
  • Page 73 Features Functionality name Description Grip Toggles to the Grip mode. Advanced settings Manual mode selector: allows the user to set the Shut off distance parameter. Shut off distance Closes the pump valves following a Gripper travel over a certain distance. Node test: Minimum vacuum distribution level.

  • Page 74: User Interface

    5. User Interface Visit the product page of the Vacuum Grippers on support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate documentation. To consult the Robotiq User Interface Manual, go to support.robotiq.com , select Browse by product → Vacuum Grippers→...

  • Page 75: 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 76 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 77 Fig. 6-3: Two air nodes bracket's dimensions Bracket for 4 suction cups EPick - Instruction Manual...
  • Page 78 Fig. 6-4: Four air nodes bracket's dimensions Fig. 6-5: Minimum and maximum arrangement possibilities of the air nodes position.
  • Page 79 6.1.3. Air nodes Fig. 6-6: Air nodes dimensions EPick - Instruction Manual...

  • Page 80: 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 81 Bolt pattern for coupling GRP-CPL-062 and GRP-ES-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 dowel pin ISO 9409-1 standard 50-4-M6 Fig. 6-8: Coupling for ISO 9409-1-50-4-M6. EPick - Instruction Manual...
  • Page 82 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 dowel pin ISO 9409-1 standard 31.5-4-M5 Fig.
  • Page 83 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 dowel pin ISO 9409-1 standard 40-4-M6 Fig. 6-10: Coupling for ISO 9409-1-40-4-M6. EPick - Instruction Manual...
  • Page 84 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 dowel pin 62 mm diameter internal insert Fig.
  • Page 85 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 dowel pin 42 mm diameter external insert Fig. 6-12: Coupling for PCD 56 mm with 6 x M4 clearance. EPick - Instruction Manual...
  • Page 86 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 dowel pin 34 mm diameter external insert Fig.
  • Page 87 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 dowel pins Fig. 6-14: Coupling for PCD 63 mm with 6 x M6 clearance. EPick - Instruction Manual...

  • Page 88: 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 Warning Do not lift 16 kg with two suction cups. Exceeding 4.5 kg per air node could induce damage and should be avoided.
  • Page 89 Chart 6-2: Flow (L/min) vs Vacuum (%) EPick - Instruction Manual...
  • Page 90 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 91 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. EPick - Instruction Manual...
  • Page 92 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...
  • Page 93 Percentage of vacuum: 60% (which is equivalent to 60.8 kPa, according to the conversion table above) Mass: 2 kg Acceleration: 1.2 m/s n = 4 Case #2 m = 2 kg g = 9.81 m/s a = 1.2 m/s EPick - Instruction Manual...
  • Page 94 Since 305.6 N > 97.7 N , the rule is respected and we can ensure the good grip of the part. The following graph represents the recommended acceleration in function of the payload when the Vacuum Gripper is used with the Robotiq brackets and accessories. Note that the optimal suction cup choice is represented. Info Maximum acceleration with Universal Robot: 150 m/s Default speed with Universal Robots: 1.2 m/s...
  • Page 95 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 96 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%. Info Cardboard material should give percentage vacuum values lower than 15%.
  • Page 97 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. EPick - Instruction Manual...
  • Page 98 196.0 1423 Table 6-4: Center of mass and tool center point matrix. Info For TCP and center of mass of the EPick used in combination with other Robotiq products, please consult the specific table provided on our support website. The coordinate system used to calculate the moment of inertia and center of mass of the Vacuum Gripper is shown in the figure below.

  • Page 99: Electrical Specifications

    The following limits must be respected at all time. Calculation of maximum moment should include the robot acceleration and a safety factor. Parameters Maximum Value Total moment 150 Nm Table 6-5: Moment limitation of the Vacuum Gripper Fig. 6-20: EPick Moment limitation 6.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 VDC ± 10% Quiescent power (minimum...
  • Page 100 SPECIFICATION VALUE Minimum Peak 600 mA (with current limitations) Table 6-6: Vacuum Gripper electrical specifications...

  • Page 101: 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 102 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 103: 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 104 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, contact support@robotiq.com.

  • Page 105: Spare Parts, Kits And Accessories

    Number Number (1 Cup) (2 Cups) (4 Cups) VAC-CB- VAC-CB- Kit for Universal Robots VAC-CB-UR- EPick Kit for CB-Series UR UR-EPICK- (CB-Series) EPICK-KIT2 EPICK- KIT1 KIT4 1 Adapter G1/4 to G1/8 Small Suction Cup Kit 1 Suction Cup (1.5 Bellows, Ø 30 mm) VAC-SML-CUP-KIT-1 1 Suction Cup (1.5 Bellows, Ø...
  • Page 106 2 Suction Cups (1.5 Bellows, Ø 55 mm) VAC-SCS-CUP55-2 Replacement filter Filter for vacuum generator VAC-SCS-FILTER EPick Wrist connection EPick Gripper, I/O Coupling Kit for Universal Kit UR CB-Series/ One (1) VAC-CB-UR-EPICK-KIT1-W Robots CB-Series, 1 Suction Cup EPick Wrist connection EPick Gripper, I/O Coupling Kit for Universal...
  • Page 107 40-4M5-1D3 coupling 3mm indexing pins, with screws for 2-F Gripper AGC-CPL-070-002 fixation and 1 m pigtail cable Coupling for 31.5 mm PCD with (4) M4, with 31.5-4M4 coupling screws for 2-F Gripper fixation and 1 m AGC-CPL-071-002 pigtail cable EPick - Instruction Manual...
  • Page 108 Ordering Ordering Ordering Item Description Number Number Number (1 Cup) (2 Cups) (4 Cups) Wrist adapter plate for use with AGC-CPL-064- Adapter plate to 002. Interface to 63 mm PCD with (4) M6 screws AGC-APL-151-002 63-4M6-71-2D3 and 71 mm PCD with (2) M3 indexing pins Wrist adapter plate for use with AGC-CPL-064- Adapter plate to 002.

  • Page 109: Troubleshooting

    9. Troubleshooting 9.1. Communication 9.1.1. When using EPick Vacuum gripper with USB to RS485 serial converter: Troubleshooting from the Gripper LED: 1. LED is not lit, Gripper not powered. a. Check Gripper power supply and electrical setup 2. LED is solid blue and red, Gripper is in fault.
  • Page 110 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...
  • Page 111 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 112 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 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 communication with the robot.
  • Page 113 EPick - Instruction Manual...

  • Page 114: Warranty

    Usage respects recommended payload and force specified in the Mechanical specifications section. Cycle count: One (1) cycle is defined as a successful object gripping attempt. It is calculated in the internal memory of the EPick Gripper and can be seen on the robot teach pendant when using with the Universal Robots or with the Robotiq User Interface.
  • Page 115 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...
  • Page 116 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 117 11. Harmonized Standards, Declarations and Certificates 11.1. Original EC declaration of incorporation EPick - Instruction Manual...

  • Page 118: Applied Standards

    11.2. 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 119 (01) 418-380-2788 Outside US and Canada 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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