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Summary of Contents for PIAB piCOBOT L
- Page 1 Manual Manual piCOBOT piCOBOT ® ® Universal Robots Universal Robots Air driven ejector unit for vacuum grippers Air driven ejector unit for vacuum gripper...
- 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...
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Page 3: Table Of Contents
Contents 5.5 Vacuum flow......21 5.6 Evacuation time ....21 1. -
Page 4: Introduction To The Manual
Introduction to the manual 1. Introduction to the manual 1.2.2 Mandatory signs 1.1 About the manual • The responsible party for the production site Note! must ensure that this manual will be read and Information that needs extra attention! understood. •... -
Page 5: Safety Instruction
® 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 L installed. The ® Vacuum force required steps must be undertaken in supervision and approval by authorized system integrators. -
Page 6: Risk Assessment
Safety instruction • Interfacing other machines and additional safety Warning! devices if defined by the risk assessment If the product is used for evacuating solid • Setting up the appropriate safety settings in the content, ensure that a filter is used for robot software preventing ejected objects. -
Page 7: Intended Use
Safety instruction • • Compact design to minimize the volume envelope Order fulfillment occupied by the end effector in limited working • Assembly. spaces. • Low weight to reduce the impact inertia. 2.6 Misuse • Large surface area-to-volume ratio, to reduce the impact inertia (pressure). -
Page 8: Introduction To Picobotl Ur
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 L has been tested according to the ®... - Page 9 Automatic Level Determination (ALD) function can reduce the energy usage by up to 90-95% by optimizing the Energy Saving (ES) function. • Can be used together with Piab’s tool changer and docking station for automatic or manual change of gripper. •...
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Page 10: Overview - External
Introduction to piCOBOT® L UR 3.4 Overview - external Position Description Note Adapter plate Adapter plate ISO 9409 for robot Clamp ring LED indicator See chapter Operation Outlet Exhaust air Feed pressure inlet Push-in style, air hose outer diameter ø6, ø8, ø10 or 2x ø10mm. OLED display and select buttons See chapter Interface Safety cover for internal silencer... -
Page 11: Overview - Internal Silencer
Introduction to piCOBOT® L UR 3.5 Overview - internal silencer Position Description Note Outlet Exhaust air Safety cover for internal silencer Safety cover for piCHIP house The piCHIP house contains 1 or 2 COAX cartridges. ® Silencer, internal Gasket piCHIP house Contains 1 or 2 COAX cartridges. -
Page 12: Overview - External Silencers
Introduction to piCOBOT® L UR 3.6 Overview - external silencers Position Description Note Safety cover for piCHIP house Each pump house contains 1 or 2 COAX ® Silencer, external A pump with 3 or 4 COAX cartridges has external silencers. ®... -
Page 13: Installation
Installation 4. Installation 4.1 What’s in the box Feed pressure, Feed pressure, COAX max. optimum ® • piCOBOT L Universal Robots (UR) ® 2x SX42 0.7 [101.5] 0.50 [72.5] • Air hose ø6, ø8 or ø10 mm outer diameter, length 3x SX42 0.7 [101.5] 0.57 [82.7]... - Page 14 Installation 3. Attach the adapter plate to the robot with four MRT M5 or M6 screws (depending on the selected interface). 5. Mount a gripping tool, such as a suction cup, foam gripper or adjustable gripper to the piCOBOT L, either directly or via the tool ®...
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Page 15: Urcap Installation
(shown in the Dimensions chapter), this enables fastening different grippers or suction cups. 4.7 URCap installation The Piab URCap (referred to as URCap) shall be installed after the complete installation of piCOBOT ® L or KCS components onto the Robot. The URCap works with the CB3 and e-series UR-robots. - Page 16 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 17 Installation 2. You must write and set the payload value in the General tab. Below TCP you will find the Payload field. The foam gripper comes with choices of foam size, foam thickness and foam flow distribution. Stored TCP value When programming the robot, there are different buttons for the piCOBOT and KCS that will grip or...
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Page 18: Automatic Tool Changing
Installation 3. Select “URCap” below the System tab 4. Select Piabs URCap 5. Press – (minus) and remove the software. 4.8 Automatic tool changing To use the automatic tool changing contained in the UR-cap, use the following steps to proceed: 1. - Page 19 Installation 5. Verifying the tuning process: • a. Press Go to Park approach. • b. Ensure that the gripper is connected to the piCOBOT. • c. Press Test park motion. The piCOBOT leaves the tool in the docking station and continue to Fetch approach.
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Page 20: Technical Data
Humidity 35-85 Vibration resistance at 2g xyz 8-200 See the configurable datasheet for the value Noise level range* of the particular configuration on piab.com * Higher noise level = free running vacuum (cups open) 5.3 Operation Description Unit Value See the configurable datasheet for the value... -
Page 21: Electrical Input/Output
Technical data 5.4 Electrical input/output Description Unit Value Analog output Accuracy of F.S. (Full Scale) analog output ±3% Manual override , electrically activated Yes, non-locking push style Signal range (digital output) kPa [-inHg] -101.3 - 140 [-29.92-41.34] Response time valve See the configurable datasheet for the value of the particular configuration Switch output S1/S2, max... -
Page 22: Dimensions
Dimensions 6. Dimensions 6.1 1 x piCHIP house (1-2 COAX) 6.2 2 x piCHIP house (3-4 COAX) G1/2" 4 G8 0.16" G8 4x M5 1.06" 1.18" 133.8 4.84" 5.27" Position Description Compressed air Vacuum Exhaust Description Unit Value B = Ø6 mm : A = 19.5 [0.77] A - Compressed air supply width mm [in] B = Ø8 mm : A = 25.75 [1.01]... - Page 23 Dimensions 4 G8 0.16" G8 4x M5 G1/2" 303.7 1.57" 11.96" 5.32" 4.72" 198.5 135.3 7.82" 5.32" Air supply 2xØ10 29.85 [1.18] 2x10 Air supply Ø12 31.3 [1.23] Position Description Air supply Ø10 23.4 [0.92] Air supply Ø8 25.7 [1.01] Description Compressed air Compressed air...
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Page 24: Adapter Plate
Dimensions 6.3 Adapter plate 6 h8 0.24" h8 31.5 1.24" 1.97" 0.25" ISO 9409-1-50-4-M6 ISO 9409-1-50-4-M6 adapter plate. Page 24/44 piCOBOT® L UR Manual... -
Page 25: Operation
LEDs in green and blue on the piCOBOT L. As soon ® as the piCOBOT L is turned on, the Piab logo is ® shown and shortly after the default screen (see picture below, showing the status IDLE with 0.0 vacuum). -
Page 26: Blow-Off Flow
Operation your choice to the square marker and press both “V” and “B” at the same time. To select and set a value or choice in a menu, toggle to the square marker and press “V” and “B” at the same time again. Your choice is marked with * and the OLED will quickly blink to confirm your setting. -
Page 27: Menu Overview
Operation 7.3 Menu overview Manual piCOBOT® L UR Page 27/44... -
Page 28: Menu Settings
Operation 7.4 Menu settings This is the first level of menus, for underlying menus and settings please see Menu settings on the next pages. Parametrization Menu name Preset value Range Unit Comment Part Present vacuum level 0…100 -kPa [-inHg] Normally used as Part present level setpoint Part Present hysteresis 0…100... - Page 29 See corresponding chapter Function. SYS temp System Temperature °C See corresponding chapter Function. Identity Menu name Comment Vendor ID PIAB VENDOR ID Device ID E.g. 314, see your pump for the correct value Vendor Piab AB Product name piCOBOT ® Serial number E.g.
- Page 30 Operation Service menu Menu name Comment Piab lock For Piab developers only. Page 30/44 piCOBOT® L UR Manual...
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Page 31: Function
Function 8. Function NOTE! Some functions are optional and chosen setpoint – ES hysteresis). when configuring the piCOBOT L for purchase. ® Parameter Description These functions are denoted with (optional). Range 0 .. 100 -kPa [0 .. 29.5 -inHg]. ES setpoint 8.1 Parametrization and configuration S2 >... - Page 32 Function vacuum. IBO-sensitivity - can be used to tune Parameter Description sensitivity for IBO depending on the size of the vacuum system. The number of recovery actuations ACM Recovery (default = 2) that are allowed to oc- Parameter Description actuations cur within the ACM timeout without triggering the ACM function.
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Page 33: Supervision
Function Blow-Off control type Parameter Description Parameter Description The BOC signal is indirectly IBO sensitivity is affected by parameter IBO Sets the input type to operate PNP described Same as base sensitivity. See chapter on when base input type is PNP. NPN separately. - Page 34 Function cycle generates a new reading to be stored locally. Up to 100 readings are possible to store, then a FIFO principle of replacement of data is applied. Highest Voltage Detected (HVD) MVD is a reading of the maximum voltage seen by the vacuum-ejector over the lifespan of the ejector.
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Page 35: Maintenance
• All maintenance must be performed in compliance with this manual, including safety instructions. • Only authorized system integrators, or Piab AB, shall perform repairs. • Only use original spare parts. • When working in environments with dust, dirt and larger particles that could jam the ejector unit and cause... -
Page 36: Spare Parts
Function 9.2 Spare parts Article no Quantity Description 0202261 COAX cartridge SX12 ® 0202262 COAX cartridge SX42 ® 0240732 Cable M8 8-pin female to M8 8-pin female, length 0,17 m 0205484 Spare part kit piCHIP piCOBOT ® 3216009 External silencer, G3/8” connection 9.3 Accessories Article no Description... -
Page 37: Dismounting Of Chip
Description 0243620 Docking station 105-165 See the KPCL configurator for full configuration of foam grippers, on piab.com. 9.4 Dismounting of chip 1. Unscrew and remove the safety cover (C), with a Torx T10 key. 2. Unscrew and pull out the piCHIP house (A) from the pump, with a Torx T10 key. - Page 38 Function Figure 6 Pump with two piCHIP houses (3-4 COAX ). Only one piCHIP house is shown in the figure. ® Figure 7 SX12 (A), SX42 (B) and plug/dummy cartridge (C). If a pump with 1 or 3 COAX is selected, a dummy ®...
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Page 39: Cleaning Of Compressed Air Filter
Function 9.5 Cleaning of compressed air filter 1. Use a wrench to unscrew the angled connector for compressed air. 2. Blow on the filter with compressed air to remove any dust or residues. 3. Screw the angled connector back in place using a wrench. Manual piCOBOT®... -
Page 40: Troubleshooting
Troubleshooting 10. Troubleshooting 10.1 Mechanical troubleshooting Observation or Subsystem Actions Comment error Pump Inspect air supply connection. No vacuum in Pump Inspect electrical connection. system. Pump Inspect power supply. Power supply is monitored on the display and shall be within 24 V +/- 10%. Pump Clean COAX cartridges in COAX... -
Page 41: 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 42: Recycling And Disposal
Recycling and disposal 12. Recycling and disposal Environmental aspects are considered in the development process of Piab’s products to make sure that a minimal environmental footprint is used. Piab is certified with ISO-14001. Piab also complies with: • RoHS (2002/95/EC) •... - Page 44 +33 (0)16-430 82 67 +46 (0)8-630 25 00 +33 (0)16-430 82 67 +46 (0)8-630 25 00 +55 (0)11-449 290 50 +55 (0)11-449 290 50 +86 21 5237 6545 +86 40 0897 8668 info-france@piab.com info-sweden@piab.com info-france@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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