ROBOTIQ AIRPICK Instruction Manual
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ROBOTIQ AIRPICK Instruction Manual

Airpick vacuum gripper for e-seriesuniversal robots
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Original Notice
© 2019 Robotiq Inc.
Robotiq AirPick Vacuum Gripper
for e-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 e-Series Universal Robots robot iq.com | leanrobot ics.org Instruction Manual...
  • Page 2 Original Notice © 2019 Robotiq Inc. Robotiq AirPick Vacuum Gripper for Omron-TM Series Robots robot iq.com | leanrobot ics.org Instruction Manual...
  • Page 3 Original Notice © 2019 Robotiq Inc. Robotiq AirPick Vacuum Gripper for TM Robots robot iq.com | leanrobot ics.org Instruction Manual...
  • Page 4 Original Notice © 2019 Robotiq Inc. Robotiq EPick Vacuum Gripper for TM Robots robot iq.com | leanrobot ics.org Instruction Manual...
  • Page 5 Original Notice © 2019 Robotiq Inc. Robotiq EPick Vacuum Gripper for Omron-TM Series Robots robot iq.com | leanrobot ics.org Instruction Manual...

  • Page 6: Table Of Contents

    Single Gripper Multiple Vacuum Grippers 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...
  • Page 7 3.5.1. Pinout interface 3.5.2. Coupling to controller 3.5.3. Coupling to wrist Single Gripper Multiple Grippers 3.6. Installation for Universal Robots 3.7. URCap Package 3.7.1. Installing URCap package on e-Series Single Gripper Multiple Grippers 3.7.2. Uninstalling URCap Package 3.7.3. License Agreement 4.
  • Page 8 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. Mechanical specifications 6.2.1. Payload and force Example 1: Non-porous material Case #2 Example 2: Porous material Case #1 AirPick - Instruction Manual...
  • Page 9 6.2.2. Center of mass and tool center point 6.2.3. Moment Limitation 6.3. Electrical specifications 7. Maintenance 7.1. Vacuum Gripper cleaning 7.2. Periodic inspection Suction cups and air nodes 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Communication 9.2. Vacuum Gripper verification 10.

  • Page 10: 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 11 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 12: 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 13: 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 14: 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 AirPick Gripper has to be connected to a Gripper coupling which provides both the mechanical and electrical connectivity to the Gripper.
  • Page 15 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 16: 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 17: Warning

    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 18: 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 19 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 20: 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 21 Four (4) port plugs (two already mounted on the suction cup system) One (1) End effector coupling kit One (1) Tubing 8 mm - (8 m) Required hardware 4 Suction Cups Kit One (1) Vacuum generator One (1) suction cup system for 4 suction cups (1 manifold, 1 bracket, tubing, 4 air nodes, 8 suction cups) Eight (8) standard suction cups (two different sizes) Four (4) port plugs One (1) End effector coupling kit...

  • Page 22: Required Toolsand Equipment

    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. 3.2. Required Tools and Equipment 3.2.1 .

  • Page 23: Air Supply

    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 24 AirPick - Instruction Manual...

  • Page 25: Multiple Vacuum Grippers

    Fig. 3-1: Installing the Vacuum Gripper onto the robot wrist Multiple Vacuum Grippers When installing multiple Vacuum Grippers on one robot, every Vacuum Gripper must have its own coupling. 1. Fasten the M8 splitter (ACC-SPLIT-M8-2:1) to the dual vacuum gripper adapter plate (AGC-APL-159-002). Caution Make sure the splitter is fastened on the side of the adapter plate that receives the dowel pin.

  • Page 26: 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 excessive tube bending.

  • Page 27: Connection Of The Air Supply Line To The Airpick Vacuum Gripper

    Fig. 3-4: 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 28: Suction Cup System

    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. AirPick - Instruction Manual...

  • Page 29: Suction Cups And Air Nodes

    Fig. 3-5: 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 30: Pinout Interface

    3.5.1 . Pinout interface The Gripper interfaces with its coupling via a 10-spring pin connector located on its outer surface. Fig. 3-8: Pinout of the AirPick cable-to-wrist coupling. Info The coupling used in the figure above is used for reference only and corresponds to bolt pattern ISO 9409-1-50-4-M6.

  • Page 31: Coupling To Wrist

    3.5.3. Coupling to wrist Single Gripper The figure below represents the wiring schematic of the Vacuum Gripper with a coupling connecting directly to the robot wrist. Fig. 3-9: RobotiqAirPick Gripper with device cable wiring scheme...

  • Page 32: Multiple Grippers

    3.6. 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: Urcap Package

    Please refer to the Installing URCap Package section to configure the Gripper properly before operating and programming the device. 3.7. 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...

  • Page 34: Installing Urcap Package On E-Series

    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 corresponding URCap and extract it on the root of a blank USB stick.
  • Page 35 Tap the System button in the navigation pane on the left. Select URCaps in the dropdown list. Press the plus (+) button to look for the .urcap file in the available drives. Once the file is selected, it will display in the Active URCaps box, next to a rounded arrow.

  • Page 36: Multiple Grippers

    Make sure all Vacuum Grippers have different IDs. With their factory settings, all grippers have Gripper ID set to 1. If you have more than one gripper connected with the same ID, communication issues will arise. AirPick - Instruction Manual...
  • Page 37 Once all grippers IDs have been set, connect them all to the M8 splitter. Go back to the Dashboard tab and confirm that all grippers arerecognized and can be controlled.

  • Page 38: Uninstalling Urcap Package

    Tap Settings. Tap the System button in the navigation pane on the left. Select URCaps in the dropdown list. Press the minus (-) button to remove the URCap package. Tap the Restart button to deactivate the URCap. AirPick - Instruction Manual...

  • 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 “...
  • Page 40 User may provide the Licensor with details regarding any bug, defect or failure in the Software promptly and with no delay from such event; the End-User shall comply with the Licensor’s request for information regarding bugs, defects or failures and furnish him with information, screenshots and try to reproduce such bugs, defects or failures upon Licensor’s demand. AirPick - Instruction Manual...
  • Page 41 12. Expiration and Termination. The Licensor may terminate this Agreement for default by the End-User. This Agreement will also be automatically terminated upon the election of such by the Licensor or the official launch of the Software, whichever event comes first.

  • Page 42: 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. AirPick - Instruction Manual...

  • Page 43: Control Over Universal Robots Package

    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 44: 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 AirPick - 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. 0x00 (0d0) - No timeout. 0x0A (0d10) - 1 sec timeout period. 0xFF (0d255) - 25.5 sec timeout period. AirPick - Instruction Manual...
  • Page 47 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 48: 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 49 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 50 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 51: 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 52: 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: AirPick - Instruction Manual...
  • Page 53 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. 4-3: Vacuum level vs time in the Advanced mode...

  • Page 54: 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). AirPick - Instruction Manual...

  • Page 55: 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 56: 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 58: Vacuum Gripper Scan

    3. Tap the Vacuum button. 4. Tap the Dashboard button. 5. Check the boxes. 6. Tap the Scan button. The user can show and hide the Vacuum Gripper Toolbar by respectively ticking and unchecking the Show Vacuum Toolbar box. AirPick - Instruction Manual...

  • Page 59: Vacuum Gripper Toolbar

    4.8.2. Vacuum Gripper Toolbar Overview The Vacuum Gripper Toolbar is used to test the Gripper. Features Functionality Description name Manual mode selector: Allows the user to set the maximum/minimum Advanced vacuum distribution levels, the timeout as well as the continuous mode . settings This mode allows a complete customization of the vacuum distribution to meet the user’s specific application needs.

  • Page 60: Vacuum Gripper Node

    The Command window shows the requested action parameters for the Vacuum Gripper node. Info Since the Automatic mode establishes the parameters in real time depending (among other factors) on the Gripper behavior and workpiece material, the Manual mode will mainly be documented. AirPick - Instruction Manual...

  • Page 61: Grip Command

    Grip Command Fig. 4-7: Command window with Vacuum Gripper node - Grip node In the Command window, tap the Grip tile 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 62: Release Command

    Allows the vacuum gripper to perform suction while it moves Continuous grip an object from one place to another. Release Command Fig. 4-8: Command window with Vacuum Gripper node - Release mode AirPick - Instruction Manual...

  • Page 63: Features

    In the Command window, tap the Release tile. Tap the Advanced settings checkbox. Tap the textbox next to Shut off 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.
  • Page 64 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. rq_set_gripper_max_cur(current_mA, Sets the Vacuum Gripper maximum supply current in mA. gripperId) AirPick - Instruction Manual...

  • Page 65: 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 66: 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 67: Technical Dimensions

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

  • Page 68: 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 AirPick - Instruction Manual...

  • Page 69: Bracket For 4 Suction Cups

    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 70 Fig. 6-4: Four air nodes bracket's dimensions Fig. 6-5: Minimum and maximum arrangement possibilities of the air nodes position. AirPick - Instruction Manual...

  • Page 71: Air Nodes

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

  • Page 72: 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 73: 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 74: 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. 6-9: Coupling for ISO 9409-1-31.5-4-M5. AirPick - Instruction Manual...

  • Page 75: Coupling For Iso 9409-1-40-4-M6

    Coupling for ISO 9409-1 -40-4-M6 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.

  • Page 76: Coupling For Pcd 56 With 8 X M4

    Fig. 6-11: Coupling for PCD 56 mm with 8 x M4 clearance. Info Although coupling AGC-CPL-065-002 is compatible with 8 x M4 threads on a 56 mm PCD it uses only 6 of the 8 normally present holes. AirPick - Instruction Manual...

  • Page 77: Coupling For Pcd 56 With 6 X M4

    Coupling for PCD 56 with 6 x M4 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.

  • Page 78: 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. 6-13: Coupling for PCD 60 mm with 4 x M5 clearance. AirPick - Instruction Manual...

  • Page 79: Coupling For Pcd 63 With 6 X M6

    Coupling for PCD 63 with 6 x M6 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.

  • Page 80: 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 81: 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 82 91.2 101.3 Table 6-3: Conversion of absolute pressure to vacuum level AirPick - Instruction Manual...
  • Page 83 Fig. 6-15: 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 84: 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 85: Case #2

    Case #2 m = 2 kg g = 9.81 m/s a = 1.2 m/s S= 4 (recommended) µ = 0.5 Validation that F > F : 305.6 N > 97.7N Since 305.6 N > 97.7 N , the rule is respected and we can ensure the good grip of the part. Example 2: Porous material For porous material, non-negligible air leakages can be observed.
  • Page 86 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 87: 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 88: 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. 6-18: Center of mass and tool center point matrix.

  • Page 89: Moment Limitation

    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 90: 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 91: Vacuum Gripper Cleaning

    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 92: 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 93: 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 94: Spare Parts, Kitsand Accessories

    Item Description Number Number Number (1 Cup) (2 Cups) (4 Cups) Kit for Universal VAC-ES-UR- VAC-ES-UR- VAC-ES-UR- AirPick Kit for e-Series UR Robots (e-Series) AIRPICK-KIT1 AIRPICK-KIT2 AIRPICK-KIT4 VAC-TM- VAC-TM-EPICK- VAC-TM-EPICK- Kit for TM Robot EPick Kit for TM EPICK-KIT1 KIT2...
  • Page 95 Ordering Ordering Ordering Item Description 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 96 Ordering Ordering Ordering Item Description Number Number Number (1 Cup) (2 Cups) (4 Cups) M8 indexing pins AirPick - Instruction Manual...

  • Page 97: 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 98 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 by tapping the triple bar icon in the upper right corner, selecting Settings, then tapping the System menu and the URCaps button in the navigation pane on the left a.

  • Page 99: Vacuum Gripper Verification

    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 100: Warranty

    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 101 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 102: Harmonized Standards, Declarations And Certificates

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

  • Page 103: Applied Standards

    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 104: Appendix

    1 2. Appendix Fig. 12-1: Pneumatic schema of the AirPick Vacuum Gripper AirPick - Instruction Manual...

  • Page 105: 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 AirPick - Instruction Manual...

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