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PIAB piCOBOT Manual

Universal robots actinav bin picking air driven ejector unit for vacuum grippers
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Manual
Manual
piCOBOT
piCOBOT
Universal Robots ActiNav Bin Picking
Universal Robots ActiNav Bin Picking
Air driven ejector unit for vacuum gripper
Air driven ejector unit for vacuum grippers
®
®
Art. No. 0240745, Rev.02, EN, 2022-02
Art. No. 0240745, Rev.02, EN, 2022-02
Original instructions
Original instructions

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Summary of Contents for PIAB piCOBOT

  • Page 1 Manual Manual piCOBOT piCOBOT ® ® Universal Robots ActiNav Bin Picking Universal Robots ActiNav Bin Picking Air driven ejector unit for vacuum grippers Air driven ejector unit for vacuum gripper Art. No. 0240745, Rev.02, EN, 2022-02 Art. No. 0240745, Rev.02, EN, 2022-02...
  • Page 2 This manual is available in the following languages at piab.com: Chinese English French German Italian Japanese Korean Polish Portuguese (Brazil) Russian Spanish Swedish...

  • Page 3: Table Of Contents

    12. Recycling and disposal ... 35 4.6 piCOBOT installation ....12 4.7 ActiNav pneumatic hose management 13 4.8 URCap installation .

  • Page 4: Introduction To The Manual

    Room temperature (20°C [68°F] ± 3 °C [5.5°F]). • Standard atmosphere (101,3 kPa [29.9 inHg] ± 1,0 kPa [0.3 inHg]). Warning! • Relative humidity, 20-70%. Unrestricted exhaust Warning! Risk of crushing or entrapment of upper limbs Page 4/36 piCOBOT® UR ActiNav Manual...

  • Page 5: Safety

    ® extended time without running the required steps must be undertaken in supervision ejector. and approval by authorized system integrators. Piab AB is not responsible for safety of a complete Warning! robot system with piCOBOT installed. The required ® Vacuum force steps must be undertaken in supervision and approval by authorized system integrators.

  • Page 6: Risk Assessment

    The system integrator must perform a risk assessment on the complete robot application. The piCOBOT is only a component in a robot application ® thus the safe use of the piCOBOT relies on the ® integrator’s ability to design a safe robot application. Page 6/36 piCOBOT®...

  • Page 7: Intended Use

    The piCOBOT is only cleared for operation under ® • Constrained air hose by straps to avoid conditions noted in this manual and the piCOBOT ® entanglement with other objects and/or robot datasheet. body. •...
  • Page 8 Use close to a human’s head, face and eye area. • Use as a climbing aid. • Use as a lifting device by the ejector module mechanically (or any other way than use of suction cups). Page 8/36 piCOBOT® UR ActiNav Manual...

  • Page 9: Introduction To Picobot ® Ur Actinav

    Electromagnetic EN/(IEC) 61000-6-2:2005 product. Compatibility EN/(IEC) 61000-64:2007+A1 (EMC) For any communication with Piab AB or service RoHS2 Directive centers always refer to the label information. Compliant (2011/65/EU) 3.2 Compliance piCOBOT has been tested according to the ®...
  • Page 10 Introduction to piCOBOT® UR ActiNav • Valves with Adaptive Pulse Width Modulation (A-PWM). • Extra valve protection with Automatic Condition Monitoring (ACM) function that detects if the object being handled is leaking or non-leaking, triggering the use of Energy Saving (ES) or not.

  • Page 11: Overview

    Introduction to piCOBOT® UR ActiNav 3.4 Overview Position Description Note Adapter plate Adapter plate for robot LED indicator See chapter Operation Outlet Exhaust air Feed pressure inlet Push-in style, 6 mm OLED display and select buttons See chapter Interface piCHIP10x...

  • Page 12: Installation

    Exhaust Attention! Before using the product, read the safety Warning! instructions to ensure a safe product Do not install or operate your piCOBOT ® operation. damaged during transport, handling, or use. A damaged product may result in bursting and cause injury or property damage.

  • Page 13: Actinav Pneumatic Hose Management

    PTFE tape (1) to prevent them from causing wear when rubbing against the air tubing. Attach the tape strips against 4. Mount the ActiNav Gripper to the piCOBOT ® the shiny edge of the rotational joints, do not put see the figures in 3.4 Overview for the correct...

  • Page 14: Urcap Installation

    4.8 URCap installation tube connector on the third wrist of the robot. Make sure the tube is properly inserted into the straight The Piab URCap (referred to as URCap) shall be tube connector. installed after the complete installation of piCOBOT ®...
  • Page 15 After the restart it will show a green checkmark by the Piab URCap. After a complete restart, under the Installation tab, the word Piab will appear. At this stage the URCap is now loaded. The next step is to initialize your Piab product and start to program it.
  • Page 16 Energy Saving (ES). and then the dimensions of the foam. Check the UR manual for how to program the robot with nodes. When you have configured you piCOBOT or KCS ® above, press the TCP button to calculate it automatically.
  • Page 17 To remove the URCap, follow UR’s manual on how to uninstall URCaps. Or follow the steps below and refer to the pictures in the URCap installation chapter above. From the UR Main Menu: 1. Press ≡ 2. Select “Settings” Manual piCOBOT® UR ActiNav Page 17/36...

  • Page 18: Technical Data

    Value Pressure drop MPa [psi] 0.06 [0.018] Blow-Off flow at 0.5 MPa and no counter pressure Nl/s [scfm] 0.282 [0.583] Blow-Off flow at 0.5 MPa and 0.1 MPa counter pressure Nl/s [scfm] 0.09 [0.19] Page 18/36 piCOBOT® UR ActiNav Manual...

  • Page 19: Electrical Input/Output

    -kPa [12] [15] [18] [21] [24] [psi] [scfm] [-inHg] 0.51 / 0.45 0.58 0.15 0.33 0.56 0.90 1.43 2.17 3.27 5.75 [73.97] / [65.25] [1.23] [4.28] [9.31] [15.88] [25.52] [40.41] [61.52] [92.73] [162.79] [24.81] Manual piCOBOT® UR ActiNav Page 19/36...

  • Page 20: Dimensions

    Description mm [in] 137 [5.39] Compressed air M8 8-pin male Vacuum Ø6 Exhaust The mechanical interface is an ISO 9409-1-50-4-M6 adapter plate (M01). Also fits ISO 9409-1-50-7-M6 by using four screws (instead of seven). Page 20/36 piCOBOT® UR ActiNav Manual...

  • Page 21: Operation

    7.1 Interface steady on or flashing light depending on which task is performed. There are two buttons, one OLED screen and two LEDs in green and blue on the piCOBOT . As soon as ® the piCOBOT is turned on, the Piab logo is shown ®...

  • Page 22: Blow-Off Flow

    A high flow will release quickly but may cause light parts to move when released. A low flow will release more slowly but may be unnecessarily slow for heavy parts. Page 22/36 piCOBOT® UR ActiNav Manual...

  • Page 23: Menu Overview

    Operation 7.3 Menu overview Manual piCOBOT® UR ActiNav Page 23/36...

  • Page 24: Menu Settings

    See corresponding chapter Function. 2=On - IBO 0=Off - SAC disabled Self Adhesion Control Preset depending on configuration. 1=On - SAC activated 0= -kPa Pressure unit 1= -inHg 0=NPN Vacuum control type Base input. 1=PNP Page 24/36 piCOBOT® UR ActiNav Manual...
  • Page 25 E.g. 16Q001234, see your pump for the correct value Hardware revision (HW) E.g. R02, see your pump for the correct value Firmware revision (FW) E.g. revision 1.0 Application TAG Application TAG Example Product ordering CODE PCO.U2.M01.T.MC2.S221PA.X.6.CC.D.BXK2 Production date E.g. 2019-02-20 Manual piCOBOT® UR ActiNav Page 25/36...
  • Page 26 Operation Service menu Menu name Comment Piab lock For Piab developers only. Page 26/36 piCOBOT® UR ActiNav Manual...

  • Page 27: Function

    Function 8. Function NOTE! Some functions are optional and chosen Parameter Description when configuring the piCOBOT for purchase. These functions are denoted with (optional). Range 0 .. 100 -kPa [0 .. 29.5 -inHg]. ES setpoint S2 > S1 8.1 Parametrization and configuration Range 0 ..
  • Page 28 The Blow-Off duration is set with a timer. ATBO will Parameter Description save on I/Os needed to control piCOBOT , can be of ® great importance if several units are connected to...

  • Page 29: Supervision

    UVD is a parameter that is measured during vacuum cifically configured otherwise. on, storing the lowest voltage recorded in the first 10 operating cycle after a power-cycle. Every power- cycle generates a new reading to be stored locally. Manual piCOBOT® UR ActiNav Page 29/36...
  • Page 30 Is recording of the maximum temperature seen by the vacuum-ejector over the lifespan of the ejector. System Temperature This is the latest reading of system temperature. A new value is made available every time the ejector returns to IDLE – state. Page 30/36 piCOBOT® UR ActiNav Manual...

  • Page 31: Maintenance

    * Max vacuum is the vacuum level achieved by suction cups on a sealed work object. ** Free running vacuum is the vacuum level displayed when the suction cups are not in contact with the work object and piCOBOT is gener- ®...

  • Page 32: Spare Parts

    Suction cup BFFT23 G1/8” Male 0205046 Suction cup B20XP G1/8” Male 0101183 Suction cup B20T81 G1/8” Male 0207053 Suction cup F-BX10 G1/8” Male See piab.com Other suction cups with G1/8” Male fittings are available. Page 32/36 piCOBOT® UR ActiNav Manual...

  • Page 33: Replacement Of Picobot Filter

    Function 9.4 Replacement of piCOBOT filter ® Use a wrench, unscrew the angled connector. Use pliers, remove the filter and push in the new one. 9.5 Dismounting of chip Unscrew the 6 Torx screws (shown by the arrows) using a T4 drive and pull out the chip.

  • Page 34: Troubleshooting

    Check that the tool cable is undamaged and mounted correctly. • Check if a new empty program works. If Piab URCap is not supported on the robot, perform the following: • Update the UR robot software to version 3.6 or higher.

  • Page 35: Warranties

    Warranties 11. Warranties Piab AB, denoted as the Seller, gives its Customers a at the location of the Customer. Any replaced five-year warranty from the receipt of the Products Products shall become the property of the Seller. for vacuum pump Products (excluding...
  • Page 36 +33 (0)16-430 82 67 +33 (0)16-430 82 67 +46 (0)8-630 25 00 +46 (0)8-630 25 00 +55 (0)11-449 290 50 +55 (0)11-449 290 50 +86 21 5237 6545 +86 21 5237 6545 info-france@piab.com info-france@piab.com info-sweden@piab.com info-sweden@piab.com info-brasil@piab.com info-brasil@piab.com info-china@piab.com info-china@piab.com...

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