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ROBOTIQ POWERPICK20 Instruction Manual

Vacuum gripper
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ROBOTIQ POWERPICK20 VACUUM
GRIPPER
Original Notice
© 2024 Robotiq Inc.
Robotiq PowerPick20 Vacuum Gripper
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ POWERPICK20

  • Page 1 ROBOTIQ POWERPICK20 VACUUM GRIPPER Original Notice © 2024 Robotiq Inc. Robotiq PowerPick20 Vacuum Gripper robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    1. General Presentation 1.1. Disclaimer 1.2. Nomenclature 2. Safety 2.1. Disclaimer 2.2. Risk Assessment 2.3. Use of the PowerPick20 Vacuum Gripper 3. Installation 3.1. Scope of Delivery 3.2. Environmental and Operating Conditions 3.3. Air Supply 3.4. Reception of the Product 3.5.
  • Page 3 9. Warranty 9.1. Conditions 9.2. Warranty Void and Exclusions 10. Harmonized Standards 11. Appendix 12. Contact PowerPick20 - Instruction Manual...

  • Page 5: Revisions

    Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at: support.robotiq.com.
  • Page 6 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. General Presentation 1.1. Disclaimer The terms Gripper , PowerPick20 Gripper , PowerPick20 Vacuum Gripper and PowerPick20 used in the following manual all refer to the Robotiq PowerPick20 Vacuum Gripper. The Robotiq PowerPick20 Vacuum Gripper is a robotic device designed for industrial applications.

  • Page 8: Nomenclature

    18.2 kg (40 lb). To simplify this manual, the word “box” will be used to represent the item to be handled with the Gripper. The PowerPick20 Gripper is directly installed on the wrist of the robot, without a coupling interface.

  • Page 9: Safety

    The installer is responsible for the safe installation and commissioning of the PowerPick20 Vacuum Gripper. Robotiq accepts no liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of this product. The user (installer and operator) shall observe safe and lawful practices including but not limited to those set forth in this document.

  • Page 10: Risk Assessment

    WARNING Collisions between a person and the PowerPick20 Gripper may result in material damage, bodily injury and even death. Anyone in the vicinity of the work cell should take the necessary precautions.

  • Page 11: Use Of The Powerpick20 Vacuum Gripper

    2.3. Use of the PowerPick20 Vacuum Gripper The PowerPick20 Vacuum Gripper is designed to pick, place and handle cardboard boxes. If the Gripper is used for other applications, make sure to consider the type of item to be handled in the risk assessment (please refer to the General Risk Assessment section) and take the appropriate safety measures.
  • Page 12 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 When manually moving the Gripper installed on the robot (e.g., for teaching, maintenance, inspection purposes) make sure not to insert fingers through bracket cut outs and openings.

  • Page 13: Installation

    3. Installation This section will guide the user through the installation and general setup of the Robotiq PowerPick20 Vacuum Gripper. Before installing: Read and understand the safety instructions related to the PowerPick20 Vacuum Gripper. Please refer to the Safety section more information.
  • Page 14 1 x PowerPick20 Vacuum Gripper: 1 x Manifold assembly 1 x Small suction cup bracket assembly with 110 mm suction cups 1 x Large suction cup bracket assembly 1 x 12 mm double air tube (3.63 m) 4 x 8 mm air tubes (275 mm)

  • Page 15: Environmental And Operating Conditions

    The air supply tubing must be connected and disconnected to or from the inlet port only when the line is depressurized. It is recommended to use a lockout valve before connecting to the product. To protect against whipping hazards, the air supply tubing (connected to the PowerPick20 Vacuum Generator) must be firmly secured. An air fuse can also be installed.

  • Page 16: Reception Of The Product

    Installation Fig. 3-1: PowerPick20 Vacuum Generation Unit 1. Identify the area where the PowerPick20 Vacuum Generation Unit will be installed. Choose a location so that the electrical cable and air tubes will not obstruct the work environment. 2. Install the Powerpick20 Vacuum Generation Unit using two (2) M8 bolts (tools and hardware not provided).
  • Page 17 3. Connect a 12 mm air tube (not provided) to the air supply source and to the PowerPick20 vacuum generator. 4. Connect the PowerPick20 vacuum generator to the robot control box. Please refer to the Electrical Installation section for more details.
  • Page 18 Fig. 3-2: PowerPick20 Gripper, Default Configuration CAUTION Any unused manifold port should be covered with a port plug to avoid air leakage. PowerPick20 - Instruction Manual...
  • Page 19 Install the wrist extension onto the robot wrist with four (4) M8 x 40 mm hex socket head cap screws with captive spring washer using the provided 6 mm hex key. Required torque is 16 Nm (11.8 lb-ft). PowerPick20 - Instruction Manual...
  • Page 20 Fig. 3-4: Installation of the Wrist Extension on the Manifold PowerPick20 - Instruction Manual...
  • Page 21 Install the hollow offset link onto the robot wrist with four (4) M8 x 40 mm hex socket head cap screws with captive spring washer using the provided 6 mm hex key. Required torque is 16 Nm (11.8 lb-ft). Fig. 3-5: Installation of the Hollow Offset Link on the Manifold PowerPick20 - Instruction Manual...
  • Page 22 Install the hollow offset link onto the wrist extension with four (4) M8 x 20 mm socket head cap screws with captive spring washer using the provided 6 mm hex key. Required torque is 16 Nm (11.8 lb-ft). Fig. 3-6: Installation of the Hollow Offset Link on the Wrist Extension PowerPick20 - Instruction Manual...
  • Page 23 Insert one end of the 8 mm air tube (275 mm) into the manifold and the other end into the elbow fitting of the air node. Repeat for all four (4) air nodes. NOTICE If necessary, when using the small brackets, cut the tubes to the required length. Fig. 3-7: Installation of Suction Cup Brackets PowerPick20 - Instruction Manual...
  • Page 24 If working with the hollow offset link, install two (2) 275 mm and two (2) 475 mm air tubes (8 mm) in lieu of the above. The longer 8 mm air tubes are part of the PowerPick20 hollow offset link kit.
  • Page 25 Changing Suction Cup Pattern 1. Remove the M8 socket head screw under the PowerPick20 Gripper, near the center, using the provided 6 mm hex key. 2. Loosen (do not remove) the four (4) M8 socket head cap screws with captive spring washer holding the suction cup brackets to the robot wrist or gripper offset equipment using the provided 6 mm hex key.
  • Page 26 If necessary, insert a 10 mm hex key (not provided) at the bottom of the suction cups and tighten them while holding the air bolts with the 21 mm / 24 mm double-ended wrench provided. Fig. 3-10: PowerPick20 Air Node Assembly Replacing or Changing Suction Cups 1.
  • Page 27 3. Follow the instructions in the Changing Suction Cup Pattern section to position the suction cup brackets in a rectangular pattern. 4. Remove the four (4) M8 socket head cap screws with captive spring washer under the PowerPick20 Gripper, holding the suction cup brackets to the robot wrist or gripper offset equipment using the provided 6 mm hex key.
  • Page 28 Cut the air tubes to the right length if necessary. Air Supply to PowerPick20 Vacuum Generation Unit 1. If the supplied 12 mm air tube is long enough, connect the end of the 12 mm air tube to the air filter or air supply (please refer to the Air Supply section for more information).
  • Page 29 2. Push the air tube until it cannot go any further. 3. Connect the end of the 12 mm double air tube identified as “TOOL SIDE” to the pneumatic elbow fittings of the PowerPick20 Gripper’s manifold at the end of the robot arm.

  • Page 30: Electrical Installation

    3.6. Electrical Installation 3.6.1. PowerPick20 Vacuum Generator 1. Connect the M12 connector of the I/O cable to the PowerPick20 Vacuum Generator using the port identified as “device control.” 2. Connect the open end of the I/O cable to the robot control box according to the table and figure below.

  • Page 31: Supply Pressure Adjustment

    If so, further tests must be performed to ensure the payload is always maintained in operating conditions. Follow these instructions to adjust the supply pressure of the PowerPick20 Vacuum Gripper Unit. CAUTION Make sure all pneumatic tubes connected to the Vacuum Generation Unit and the Vacuum Gripper are pushed all the way in.

  • Page 32: Configuration Steps And Tips

    3.8. Configuration Steps and Tips NOTICE Please use the Robotiq Configurator to simulate the configuration that corresponds best to the application at hand. Should the application require more than one configuration, consider using a gripper arrangement that adapts to every situation.
  • Page 33 To ensure stability when operating the Gripper, always position the Gripper so that it is aligned with the center of the box, with the suction cups as close to the edge of the box as possible. PowerPick20 - Instruction Manual...
  • Page 34 3.8.3. Wrist Extension Install the wrist extension if additional vertical reach is required. Component Additional vertical reach Wrist Extension 100 mm (3-15/16 in) (optional) Table 3-4: Wrist extension Fig. 3-18: Wrist Extension with Small Suction Cup Brackets PowerPick20 - Instruction Manual...
  • Page 35 1 Default configuration of the Gripper. 2 This value is only valid for the PowerPick20 Gripper used in conjunction with a UR20 robot. The payload may be limited by the robot used. Please refer to the user manual of the robot for additional information.

  • Page 36: Software

    Please refer to the Electrical Installation section for additional information on wiring. 1. In the I/O menu, identify the analog input for each of the two (2) pressure sensors of the Powerpick20 Vacuum Generator; each analog input will display the voltage value of the corresponding vacuum sensor.
  • Page 37 5. Go to the program tree and tap where you want to activate the PowerPick20 Gripper. a. Insert a Set node (Program > Basic). b. In the Command window, set the Digital Output linked to the first pressure sensor to High; this will activate the vacuum for half of the suction cups.

  • Page 38: Specifications

    5. Specifications NOTICE This manual uses the metric system. Unless specified, all dimensions are in millimeters. 5.1. Technical dimensions 5.1.1. PowerPick20 Vacuum Generator Fig. 5-1: Technical Dimensions of PowerPick20 Vacuum Generation Unit PowerPick20 - Instruction Manual...
  • Page 39 5.1.2. 200 mm Hollow Offset Link Fig. 5-2: Technical Dimensions of the 200 mm Hollow Offset Link PowerPick20 - Instruction Manual...
  • Page 40 5.1.3. Small Suction Cup Brackets Fig. 5-3: Technical Dimensions of Small Suction Cup Brackets 5.1.4. Large Suction Cup Brackets Fig. 5-4: Technical Dimensions of Large Suction Cup Brackets PowerPick20 - Instruction Manual...
  • Page 41 5.1.5. Air Node Fig. 5-5: Technical Dimensions of the Air Node PowerPick20 - Instruction Manual...
  • Page 42 5.1.6. Wrist Extension Fig. 5-6: Technical Dimensions of the Wrist Extension 5.1.7. PowerPick20 Gripper (Default Configuration) Fig. 5-7: Technical Dimensions of PowerPick20 Gripper (Default Configuration) PowerPick20 - Instruction Manual...

  • Page 43: Mechanical Specifications

    5.2. Mechanical Specifications 5.2.1. PowerPick20 Vacuum Gripper Value Specification Metric Imperial Energy source Compressed air and electricity Gripper mass Refer to the Tool Center Point and Center of Mass section. Vacuum Generation Unit mass 6.7 kg 14.6 lb Air tube to Vacuum Generator...
  • Page 44 Dry and filtered air as per ISO 8573-1 class 7.4.4 1Includes gravitational acceleration. 2This value is only valid for the PowerPick20 Gripper used in conjunction with a UR20 robot. The payload may be limited by the robot used. Please refer to the robot user manual for additional information.

  • Page 45: Tool Center Point And Center Of Mass

    Suction Cup Wrist Mass Configuration Offset Bracket extension Link 0 mm Small 1805 0 mm Large 1963 200 mm Small 2429 200 mm Large 2587 0 mm Small 2271 0 mm Large 2428 200 mm Small 2895 PowerPick20 - Instruction Manual...
  • Page 46 200 mm Large 3053 Table 5-2: TCP and Center of Mass for All PowerPick20 Gripper Configurations PowerPick20 - Instruction Manual...

  • Page 47: Electrical Specifications

    Quiescent power (minimum power consumption) 0.7 W Peak current 200 mA Hot swappable ESD safe Electrical connection 12-pole female M12 connector Table 5-3: Electrical Specifications of PowerPick20 Vacuum Generator 5.5. Control specifications Specification Value Communication protocol options Digital I/O Feedback Vacuum level (1-5V analog)

  • Page 48: Maintenance

    6. Maintenance The maintenance operations presented in this section are for the average normal usage of the Robotiq PowerPick20 Vacuum Gripper. The maintenance intervals must be adjusted according to the environmental conditions such as: Operating temperature Humidity Presence of chemical(s) Presence of physical objects (debris, scraps, dust, grease, etc.)

  • Page 49: Maintenance

    Visual inspection of the electrical cables and Monthly fixtures for excessive wear Visual inspection of the pneumatic tubing and Monthly fixtures for excessive wear Visual inspection of suction cups for cracks or Every six (6) months damage Table 6-2: Periodic inspection intervals PowerPick20 - Instruction Manual...
  • Page 50 11.8 lb-ft M8 x 1.25 shoulder screw Robot wrist 16 Nm 11.8 lb-ft M8 x 1.25 socket head hex Suction cup brackets 8 Nm 5.9 lb-ft cap screw Table 6-3: Torque Settings for Fasteners on PowerPick20 Gripper PowerPick20 - Instruction Manual...

  • Page 51: Spare Parts, Kits And Accessories

    7. Spare Parts, Kits and Accessories Item Description Ordering number PowerPick20 Vacuum Gripper Kit: 1 x PowerPick20 Vacuum Generation Unit 1 x Vacuum Generator 1 x Mounting bracket & filter-regulator assembly 1 x M12-12 pin I/O cable 1 x Grommet and pneumatic fitting for...
  • Page 52 1 This SKU does not include the PowerPick20 Gripper Unit or the PowerPick20 Vacuum Generation Unit. 2 This SKU does not include the PowerPick20 Gripper Unit or the mounting bracket & filter-regulator assembly. 3 This SKU does not include the PowerPick20 Vacuum Generation Unit.

  • Page 53: Troubleshooting

    Accessories section). Verify that there is no air leak in the circuit between the PowerPick20 Vacuum Generator and the suction cups. Verify that the air path and manifold are clean and not obstructed.

  • Page 54: Warranty

    9.1. Conditions Robotiq warrants the PowerPick20 and all its components against defects in material and workmanship for a period of one (1) year from the date of reception when utilized as intended. Robotiq also warrants that this equipment will meet applicable specifications under normal use.

  • Page 55: Warranty Void And Exclusions

    Robotiq shall not be liable for damages resulting from the use of the PowerPick20, nor from special, incidental, or consequential damages. Robotiq shall also not be responsible for any failure in the performance of other items to which the PowerPick and any of its component is connected or the operation of any system of which it may be a part.

  • Page 56: Harmonized Standards

    10. Harmonized Standards The standards listed in the table below were followed, as far as applicable, for the design and production of the Robotiq PowerPick20 Vacuum Gripper. Standard Year Description ISO 12100 2010 Safety of machinery — General principles for design — Risk assessment and risk reduction...

  • Page 57: Appendix

    11. Appendix Fig. 11-1: Pneumatic Diagram of PowerPick20 with Filter-Regulator Unit PowerPick20 - Instruction Manual...

  • Page 58: Contact

    12. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (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 PowerPick20 - Instruction Manual...

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