ROBOTIQ AirPick Original Notice
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ROBOTIQ AirPick Original Notice

Vacuum gripper for omron-tm series robots
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Original Notice
© 2021 Robotiq Inc.
Robotiq AirPick Vacuum Gripper
for Omron-TM Series Robots
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ AirPick

  • Page 1 Original Notice © 2021 Robotiq Inc. Robotiq AirPick Vacuum Gripper for Omron-TM Series Robots robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    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) 4. Software 4.1. Overview 4.2. Vacuum Gripper register mapping 4.3. Robot output registers & functionalities 4.4.
  • Page 3 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Vacuum Gripper verification 10. Warranty 11. Harmonized Standards, Declarations and Certificates 11.1. Original EC declaration of incorporation 11.2. Applied standards 12. Appendix 13. Contact...

  • Page 4: 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 5 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 6: 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 7 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 8: 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 9 Accessories section for a list of the available couplings. 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 10: 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 11: Warning

    Make sure that the tubing is not pressurized before removing the air supply tube from the gripper. 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.

  • Page 12: Intended Use

    Loss of vacuum can occur due to power failure or air supply interruption. 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. AirPick - Instruction Manual...
  • Page 13 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 14: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq Vacuum Gripper. Warning Before installing: Read and understand the safety instructions related to the Vacuum Gripper. Verify your package according to the scope of delivery and your order.
  • Page 15 One (1) tubing 8 mm - (8 m) Required hardware 3.1.2. OMRON TM Wrist Connection Kit AirPick Wrist Connect Kit for OMRON Robots / One (1) cup (VAC-OMRON-AIRPICK-KIT1-W) 1 x Robotiq AirPick Gripper 1 x I/O Coupling Kit (IO-CPL-OMRON-KIT) 1 x I/O Coupling...
  • Page 16 1 x Suction cup 1 x Tubing 8mm - 8m AirPick Wrist Connect Kit for OMRON Robots / Two (2) cups (VAC-OMRON-AIRPICK-KIT2-W) 1 x Robotiq AirPick Gripper 1 x I/O Coupling Kit (IO-CPL-OMRON-KIT) 1 x I/O Coupling 1 x screw kit to install on the robot...

  • Page 17: Required Tools And 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 18: Mechanical Installation

    For purposes of power and communication, a coupling must be used to attach the Vacuum Gripper to the robot. Here are the steps to follow to mount the Gripper on the robot arm (exploded view in figure below). Please note that all screws should be secured using medium strength threadlockers. AirPick - Instruction Manual...
  • Page 19 Robots 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 20 3. Use the provided M6 screws, the M6 toothlock washers and the 4mm hex key to secure the I/O Coupling installation. Mounting the Vacuum Gripper onto the I/O Coupling 1. Fasten the Vacuum Gripper onto the I/O Coupling using the M5 screws and toothlock washers of the Gripper. AirPick - Instruction Manual...
  • Page 21 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 22 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 23 Connection of the air supply line to the AirPick Vacuum Gripper Follow the steps below: Step #1 Step #2 Step #3 Insert the air tube in the AirPick port Insert the safety clip Ensure the safety clip is properly installed Info Use dry and filtered air only.
  • Page 24 Fig. 3-6: Screwing a suction cup and an air bolt 2. Pass each air bolt through the mounting bracket, adjust the position of the node along the bracket side, align with mating air nuts and tighten node by hand. AirPick - Instruction Manual...
  • Page 25 Fig. 3-7: Mounting air nodes (suction cups, air bolts, air nuts) on the bracket...

  • Page 26: Electrical Setup

    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 27 Fig. 3-9: Robotiq Vacuum Gripper with pigtail cable and device cable wiring scheme.
  • Page 28 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 29 3.5.4. Coupling to tool connector Fig. 3-11: Pinout of the I/O Coupling Single Vacuum Gripper Connect the white, green and bare wires to the Robotiq RS485 to RS232 signal converter (ACC-ADT-RS232-RS485) as shown in the figure below. Fig. 3-12: Gripper cable to RS485/RS232 converter...

  • Page 30: Testing The Gripper With The Robotiq User Interface (Rui)

    Fig. 3-13: Gripper cable to terminal connector on the controller 3.6. Testing the Gripper with the Robotiq User Interface (RUI) Once installed and properly secured, your Robotiq Vacuum Gripper should be tested with the Robotiq User Interface test software using the provided USB converter. To do so : Fig.
  • Page 31 1.4 hereof including their modifications and upgrades and their related materials; 5. “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced man- ufacturing and sale of robotic products (the “Licensor’s Business”);...
  • Page 32 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 33 AMOUNT ACTUALLY PAID IN RESPECT OF THE LICENSOR’S PRODUCTS PURCHASED BY THE END-USER PURSUANT TO A PURCHASE AGREEMENT. 11. Training, Maintenance and Support There is no entitlement to training, maintenance and support under this license unless otherwise specified in the Purchase Agreement or any other written agreement between the End-User and the Licensor. The End-User may provide the Licensor with details regarding any bug, defect or failure in the Software promptly and with no delay from such event;...

  • Page 34: 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 35 Fig. 4-1: Vacuum Gripper control logic overview...

  • Page 36: 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 37 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 38 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. AirPick - Instruction Manual...
  • Page 39 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 40: 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. AirPick - Instruction Manual...
  • Page 41 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 42 0xB - Automatic release in progress (Vacuum/pressure detected). 0xC - Internal fault; contact support@robotiq.com. 0xF - Automatic release completed (Vacuum/pressure not detected) kFLT Please refer to the optional Robotiq Controller manual (input registers & status). Register: MAXIMUM VACUUM/PRESSURE LEVEL REQUEST ECHO Address: Byte 3 Bits...

  • Page 43: Vacuum Gripper Behavior

    4.5. Vacuum 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. The Vacuum Gripper can work in two different mode: the Automatic and Advanced modes.
  • Page 44 When the minimum vacuum level is reached, object flag will be set (gOBJ=0b01). Object flag (gOBJ=0b10) will never be set because the maximum vacuum level is impossible to reach. Activate a time-out regrip for the object detection if: AirPick - Instruction Manual...
  • Page 45 i. The vacuum level drops under 10% ; ii. The object status is 0. This means that the vacuum level dropped under the minimum level for more than 0.1 second. When releasing an object in the manual mode, the Vacuum Gripper will: Open the release valve.
  • Page 46 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. AirPick - Instruction Manual...
  • Page 47 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 48: Control Logic

    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 49 Proprieties Value Baud rate 1.2KBps to 10500KBps; Default:115.2 KBps Data bits 8 bits Parity None, Odd, Even; Default: None Stop bit 1 or 2 bit; Default: 1 bit Other Modbus functions FC4, FC6, FC16, FC23, Exception responses 0x03 (Illegal Data Value) Slave ID 1 to 9: Default: 9 Robot output/Gripper input...
  • Page 50 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 AirPick - Instruction Manual...
  • Page 51 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) 4.7.4. Preset multiple registers (FC16) Function code 16 (FC16) is used to activate functionalities of the Vacuum Gripper (robot output). Examples of use of these data are action request, maximum vacuum level, minimum vacuum level, etc.
  • Page 52 Number of registers requested (2), read 03E9 Address of the first register written to 0002 Number of registers written to (2) Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes) 0019 Value written to register 0x03E9 AirPick - Instruction Manual...
  • Page 53 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 54: Control Over Omron-Tm

    Detected: The Vacuum Gripper has detected the object before the time-out. NotDetected: The Vacuum Gripper did not detect the object. Error: A communication error has occurred. 4.8.2. TM Robots compatibility with Robotiq Vacuum Grippers Hardware Version TM Flow Version TM Gripper Component...
  • Page 55 4.8.3. Getting Started Power ON the robot. Tap the triple bar icon in the upper left corner of the screen. Click on the Login icon in the navigation pane on the left. Enter your login credentials and click on OK.
  • Page 56 Click on Get Control. Click on the triple bar icon in the upper left corner of the screen and select Project. AirPick - Instruction Manual...
  • Page 57 Click on the New Project icon in the upper left corner of the screen.
  • Page 58 Enter a name for your program and click on the OK button. AirPick - Instruction Manual...
  • Page 59 4.8.4. TM Vacuum Gripper Components Here is the list of the current Robotiq Gripper TM Components to install on TM Robots: GRIPPER_ROBOTIQ_VAC_V003_SET.Component = SET the Vacuum Gripper (Advanced mode, Vacuum Levels, Timeout) GRIPPER_ROBOTIQ_VAC_V003_GRIP.Component = Grip a part (Action) GRIPPER_ROBOTIQ_VAC_V003_RELEASE.Component = Release a part (Action) GRIPPER_ROBOTIQ_VAC_V003_SELECTID.Component = Select the slave ID of the gripper when using a dual gripper setup...
  • Page 60 Click the Import button Click on TMComponent in the Robot List window and click on OK AirPick - Instruction Manual...
  • Page 61 Click on the Component button of the Import navigation pane Select the Components you want to import and click on the Import button...
  • Page 62 Tap the triple bar icon and select Setting to display the Robot Setting window Click on the Component icon AirPick - Instruction Manual...
  • Page 63 Enable required Components in the Components list by ticking the radio button beside each of them A Component that is enabled displays a green radio button; once the Components are enabled, click on the Save button...
  • Page 64 Create a new project or open an existing project, and locate the Gripper components in the navigation pane Gripper Button The user can assign Gripper Components to the Gripper button and use the latter to open and close the fingers of the Robotiq Gripper.
  • Page 65 Click on Gripper Button In the Gripper Button window, tick the Using Customized Component radio button and select the Component you want to assign to either one of the Gripper actions...
  • Page 66 In the pop-up window, select or change the Component you wish to assign to the Gripper action/button, and click OK AirPick - Instruction Manual...
  • Page 67 Programming SET Component Component Icon Component Node Drag and drop the SET Component icon after a program Gateway to place a SET program node (VAC_V003_SET1) Tap the SET node to highlight it and click on the pencil to edit the settings Fig.
  • Page 68 False Set to true to use the Advanced mode of the gripper mode var_release_ AirPick Time during which the gripper pushes air to release Release_ 1000 shutoff_time the part Settings var_release_ wait_for_ When set to true, the program will wait for an object detection...
  • Page 69 GRIP Component Component Icon Component Node The grip component is used to activate the gripper suction and to pick an object. The grip component has three possible exits: 1. Detected: When an object is detected by the gripper 2. Not Detected: When no object is detected by the gripper 3.
  • Page 70 Component Icon Component Node Info Use the Robotiq User Interface to change the Modbus Slave ID Address of the second Vacuum Gripper when using a dual gripper (Default = 9). Changing the Modbus Slave ID The user can change the Modbus Slave ID of a Robotiq Vacuum Gripper via the Robotiq User Interface.
  • Page 71 Change the Slave ID of the Vacuum Gripper by typing in the corresponding box Click on the Apply button Perform a power cycle (24 V) while the USB device remains connected...

  • Page 72: 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 73: 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 74 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 75 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 76 Fig. 6-5: Minimum and maximum arrangement possibilities of the air nodes position.
  • Page 77 6.1.3. Air nodes Fig. 6-6: Air nodes dimensions AirPick - Instruction Manual...
  • Page 78 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 79 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. AirPick - Instruction Manual...

  • Page 80: Mechanical Specifications

    Table 6-1: Specifications of the AirPick Gripper The AirPick pneumatic schema can be found in the Appendix section. 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 81 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 AirPick - Instruction Manual...
  • Page 82 Vacuum level (%) Pressure difference (kPa) 60.8 70.9 81.1 91.2 101.3 Table 6-3: Conversion of absolute pressure to vacuum level Fig. 6-9: Suction cup with inside diameter Depending on the selected suction cup, the maximum grip strength can be determined with the following equation: Where: A= Suction cups internal surface (mm P= Vacuum Level (kPa)
  • Page 83 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 84 Example 1: Non-porous material Fig. 6-10: Non-porous material Initial data: Material type: non-porous Application type: Case #2 Suction cup diameter (d): 40 mm (r=20 mm) 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...
  • Page 85 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. Fig. 6-11: Acceleration of the robot in function of the Vacuum payload Example 2: Porous material For porous material, non-negligible air leakages can be observed.
  • Page 86 Fig. 6-12: 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 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 88 127.7 1100 Table 6-4: Center of mass and tool center point matrix. Info For TCP and center of mass of the AirPick 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 89: Electrical Specifications

    6.3. Electrical specifications SPECIFICATION VALUE Operating supply voltage 24 VDC ± 10% Quiescent power (minimum 1.2 W power consumption) Peak current 150 mA for 100 ms when vacuum pump starts Table 6-6: Vacuum Gripper electrical specifications AirPick - Instruction Manual...

  • 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 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 94: Spare Parts, Kits And Accessories

    (2 Cups) (4 Cups) VAC- VAC- VAC- OMRON- OMRON- OMRON- Kit for Omron-TM AirPick Kit for Omron-TM AIRPICK- AIRPICK- AIRPICK- KIT1 KIT2 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 95 2 Suction Cups (1.5 Bellows, Ø 55 mm) VAC-SCS-CUP55-2 Replacement filter Filter for vacuum generator VAC-SCS-FILTER AirPick Wrist Connect Kit AirPick Gripper, I/O Coupling Kit for OMRON for OMRON Robots / VAC-OMRON-AIRPICK-KIT1-W Robots , 1 Suction Cup One (1) cup AirPick Wrist Connect Kit...
  • Page 96 (2) M3 indexing pins Wrist adapter plate for use with AGC-CPL-064- Adapter plate to 002. Interface to 63 mm PCD with (4) M6 screws AGC-APL-152-002 63-4M6-61_4-2D6 and 61.4 mm PCD 1 with (2) M6 indexing pins AirPick - Instruction Manual...
  • Page 97 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 80 mm PCD with (6) M8 screws AGC-APL-153-002 80-6M8-2D82D8 and (2) M8 indexing pins...

  • Page 98: Troubleshooting

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

  • Page 99: 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 100 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 101: Harmonized Standards, Declarations And Certificates

    11. Harmonized Standards, Declarations and Certificates 11.1. Original EC declaration of incorporation AirPick - Instruction Manual...

  • Page 102: Applied Standards

    11.2. 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 103: Appendix

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

  • Page 104: Contact

    (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 AirPick - Instruction Manual...

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