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PIAB piCOBOT L Manual

Air driven ejector unit for vacuum grippers
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piCOBOT® L
General
Air driven ejector unit for vacuum
grippers

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Summary of Contents for PIAB piCOBOT L

  • Page 1 piCOBOT® L General Air driven ejector unit for vacuum grippers...
  • Page 2 This manual is available in the following languages at piab.com The original manual is written in English. English Français Deutsch Italiano Polski Português (Brasil) Русский Español Svenska Copyright © 2024 Piab AB Specifications subject to change without notice.

  • Page 3: Table Of Contents

    Table of Contents 1. Introduction to the manual ......................4 1.1. About the manual ......................... 4 1.2. Safety signs used in the manual ................... 4 1.2.1. Warning signs ......................4 1.2.2. Mandatory signs ......................4 1.3. Target group ......................... 5 1.4.

  • Page 4: Introduction To The Manual

    Introduction to the manual 1. Introduction to the manual 1.1. About the manual • The responsible party for the production site must ensure that this manual will be read and understood. • The section on safety should be studied extra carefully. •...

  • Page 5: Target Group

    Introduction to the manual Important Wear ear protection 1.3. Target group This manual, especially the section about safety, shall be read by all staff who will perform any type of work with the product or equipment: • Installation personnel • Operating personnel •...

  • Page 6: Safety Instructions

    2. Safety instructions 2.1. Disclaimer Piab AB is not responsible for installation and operation of piCOBOT® L in a robot system. The required steps must be undertaken in supervision and approval by authorized integrators. Piab AB is not responsible for safety of a complete robot system with piCOBOT® L installed. The required steps must be undertaken in supervision and approval by authorized integrators.

  • Page 7: Installation

    Safety instructions 2.3.1. Installation Compressed air may be dangerous if used by unskilled personnel. Installing, using, and maintaining the product should solely be carried out by experienced and specially trained personnel. Prior to assembly and disassembly of the product, turn off electrical supply and compressed air supply. Install and maintain the product only after thoroughly reading and understanding this manual.

  • Page 8: Misuse

    Safety instructions • Order fulfillment • Assembly • Palletizing 2.6. Misuse The product is only cleared for operation under the conditions stated in this manual and in the datasheets. Any use or application deviating from the intended use is deemed to be impermissible misuse. This includes, but is not limited to: •...

  • Page 9: Introduction To The Picobot® L

    SWEDEN 3.2. Identification label Each unit is identified by a label with identification information. For any communication with Piab AB or service centers always refer to the label information and state both the Product code and Serial number. 3.3. Compliance...
  • Page 10 Introduction to the piCOBOT® L UK Legislation, UKCA Legislation Harmonised Standard and/or measurement reference Electromagnetic Compatibility Regulations BS EN/(IEC) 61000-6-2:2019 2016 BS EN/(IEC) 61000-6-4:2019 The Restriction of the Use of Certain Hazard- Compliant ous Substances in Electrical and Electronic Equipment Regulations 2012 Federal Communications Commission, FCC FCC ID R7TAMB2623...

  • Page 11: Overview

    Introduction to the piCOBOT® L 3.4. Overview Position Description Note Adapter plate Adapter plate for robot Clamp ring LED indicator See chapter Operation Exhaust Exhaust air Feed pressure inlet Angled push-in style; ø6, ø8, ø10 or 2xø10 mm OLED display and select buttons See Interface section ®...

  • Page 12: Installation

    Installation 4. Installation Warning • Do not install or operate your piCOBOT® L if damaged during transport, handling, or use. A damaged product may result in bursting and cause injury or property damage. • Before using the product, read the safety instructions to ensure a safe product opera- tion.
  • Page 13 Installation Figure 2. Attach the piCOBOT® L to the robot with the clamp ring Figure 3. Lock the clamp ring Mount a gripping tool, such as a suction cup, foam gripper or adjustable gripper to the piCOBOT® L, either directly on the tool side or via the tool changer mounted between the piCOBOT® L and the gripping tool.
  • Page 14 Installation Figure 5. Adjustable gripper attached to the piCOBOT® L Figure 6. Tool changer attached to the piCOBOT® L Figure 7. Adjustable gripper attached to the piCOBOT® L via the tool changer The Tool side of the piCOBOT® L has two different mounting interfaces, this enables fastening different grippers or suction cups: Page 14 of 48 piCOBOT®...

  • Page 15: Electrical Installation

    Installation A - G1/2” Female B - Interface 30x40 mm, 4 x M5 For more information see chapter Dimensions. 4.3. Electrical Installation Mount the electrical cable on the piCOBOT® L and on the robot, note the guide notches for the right direction.

  • Page 16: Pneumatic Installation

    Installation Pin 1-4 and 7 can be configured in the menu system to do other functions, see chapter Functions for more information. * Different operating alternatives depending on the piCOBOT® L configuration. ** S1 and S2 can deliver 2x40mA simultaneously or 1x80mA one at a time. S2 offers different preset values depending on the configuration.

  • Page 17: Pneumatic Diagram

    Installation 4.4.2. Pneumatic diagram Compressed air Vacuum Exhaust Figure 9. Vacuum NC and Blow-Off NC, with non-return valve piCOBOT® L General Page 17 of 48...

  • Page 18: Operation

    There are two buttons, one OLED screen and two 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 -kPa vacuum).
  • Page 19 Operation or which Blow-Off type is active and in action. The output signals and status conditions can represent different selectable features, for more info see the Menu overview and Menu setting on the coming pages. To enter the menus, press and hold “V” and “B” at the same time for 2 seconds. A small time-bar on the top of the display will gradually go from left to right until menus appear.

  • Page 20: Blow-Off Flow

    Operation 5.2. Blow-Off flow The Blow-Off flow can be adjusted with the Blow-Off screw. The Blow-Off flow decreases when turning the screw clockwise and increases when turning the screw counter-clockwise. 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 21: Menu Overview Picobot® L General

    Operation 5.3. Menu overview piCOBOT® L General piCOBOT® L General Page 21 of 48...

  • Page 22: Menu Settings

    Operation 5.4. Menu settings Parametrization Menu name Preset Range Unit Comment value Part Present vacuum level set- 0…100 -kPa [- Normally used as Part present point inHg] level Part Present hysteresis 0…100 Energy Saving (ES) vacuum level 0…100 Normally used as Energy Saving setpoint trigger level Energy Saving (ES) hysteresis...
  • Page 23 Operation Configuration Menu name Configuration Comment Factory reset Confirm Returns unit back to factory set of parameteriza- tion and configuration values based on product CODE. Energy Saving ES disabled Preset depending on configuration. See corre- type sponding chapter Function. ES on setpoint 2 ES with ALD ES on setpoint 2 - ALD backup Blow-Off type...
  • Page 24 E.g. R02, see your pump for the correct value Firmware revision (FW) E.g. revision 1.0 Application TAG Application TAG Example Production date E.g. 2019-02-20 Service menu Menu name Comment Piab lock For Piab developers only. Page 24 of 48 piCOBOT® L General...

  • Page 25: Functions

    Functions 6. Functions NOTE! Some functions are optional and chosen when configuring the piCOBOT® L for purchase. These functions are denoted with optional. 6.1. Parametrization and configuration Vacuum control Vacuum_control is controlled through SIO input (PNP or NPN, configurable). For a normally closed pump, vacuum is activated by an “active”...
  • Page 26 Functions Pump equipped with mixed mode (PNP/NPN or NPN/PNP In-/Out-puts). (Default is PNP/NPN-mode). Figure 12. Mixed mode PNP/NPN. Figure 13. Mixed mode NPN/PNP. Selectable using menu settings in your pump or connect to pin 7 to pin 2 (GND), see Operation. Energy Saving Type: Energy Saving –...
  • Page 27 Functions Parameter Description ALD hysteresis Range 0 .. 10, where 0 = small hysteresis and 10 = large hysteresis. Energy Saving Type: Energy Saving on setpoint S2 (Manual settings) Energy Saving (ES) on setpoint S2 will operate the same way as Energy Saving ALD, with the only difference that the user needs to provide a value at which the unit will turn off, and a hysteresis (difference window) until the unit will turn vacuum on again.
  • Page 28 Functions Blow-Off is controlled either through SIO input (PNP or NPN, configurable). Blow-Off (always pneumatically normally closed) is activated by an “active” input signal. Active Blow-Off control will always override Vacuum control, terminating the vacuum generation and starting the Blow-Off. For related information, see Vacuum control on previous page.
  • Page 29 Functions Output signal that is activated when Blow-Off is Complete, if an integrated automatic Blow-Off function, ATBO or IBO, is activated. The trigger output data will make it very easy to always program for fastest possible cycle-time. A proper use of a parameter is to initiate part release by setting the vacuum control signal to “OFF”, wait for BOC to turn “HIGH”, indicating that part has been released.
  • Page 30 Functions Selects which state to transmit on SIO output S2. Parameter Description Part Present (PP) Part Present vacuum level achieved. Vacuum Switch level S2 achieved. Energy Saving vacuum Energy Saving vacuum level achieved. Vacuum Switch level S2 achieved. level (ES) Leakage Warning (LW) Every time ACM is triggered, this indicates a leakage which can be transmitted on S2 signal port.

  • Page 31: Supervision

    Functions S1 output type S1 feedback signal. This setting is considered the base output type of the pump (PNP or NPN). Parameter Description NPN function of Vacuum control input pin (and all other input pins unless specifically configured otherwise. PNP function of Vacuum control input pin (and all other input pins unless specifically configured otherwise.

  • Page 32: Pin Configuration

    Functions System Temperature This is the latest reading of system temperature. A new value is made available every time the ejector returns to IDLE – state. 6.3. Pin configuration Name Description Note M8 8-pin male Color White 0=Vacuum control Digital input Valve 2 control 1=Blow-Off control or C2 control...
  • Page 33 Functions ** S1 and S2 can deliver 2x40mA simultaneously or 1x80mA one at a time. Bold text = Preset value (S2 offers different presets depending on the configuration). piCOBOT® L General Page 33 of 48...

  • Page 34: Maintenance

    • An overall inspection of the piCOBOT® L must be performed on a regular basis with a duration depending on the application characteristics. • All maintenance must be performed in compliance with this manual, including safety instructions. • Only authorized integrators, or Piab AB, shall perform repairs. • Only use original spare parts. 7.1. Preventive maintenance...
  • Page 35 Replace gripper if ation. locking of arms is not possible. 0244112 Foam gripper Clean Clean micro holes every Replace with new piab.com month. foam. Suction cups Clean When/if free running vacuum** Replace fitting and fil- filter piab.com increase is >5 -kPa [1.48 ter.

  • Page 36: Spare Parts

    Maintenance 7.2. Spare parts Position Item number Quantity Description ® 0202261 COAX cartridge SX12 ® 0202262 COAX cartridge SX42 0222594 Cable M8 8-pin Female Angled to Open end, length 3.0 m ® 0242665 Spare part kit piCOBOT (The O-ring denoted with * is for blind cartridge) 3216009 Silencer, G3/8”...
  • Page 37 Maintenance ® Figure 14. Pump with one chip house (1-2 COAX ® Figure 15. Pump with two chip houses (3-4 COAX ). Only one chip house is shown in the figure. piCOBOT® L General Page 37 of 48...

  • Page 38: Cleaning Of Compressed Air Filter

    Maintenance ® ® Figure 16. SX12 (A), SX42 (B) and blind (C) COAX cartridge. If a pump with 1 or 3 COAX are selected a ® blind cartridge is put in the vacant slot in the chip house next to the COAX cartridge.

  • Page 39: Troubleshooting

    Maintenance 7.5. Troubleshooting Observation or error Subsys- Actions Comment Pump Inspect air supply connec- tion Pump Inspect electrical connec- No vacuum in system tion Pump Inspect power supply Power supply is monitored on the display and shall be within 24 V ± 10% ®...

  • Page 40: Accessories

    Tool changer - Pump side 0243240 Spare part kit O-ring - Tool changer 0243619 Docking station 105-125 0243620 Docking station 105-165 ® See the piCOBOT Foam Gripper configurator for full configuration of foam grippers, on piab.com. Page 40 of 48 piCOBOT® L General...

  • Page 41: Technical Data

    Description Unit Value Installation Total weight (without suction cups) g [oz] See the configurable datasheet, available on piab.com, for the value of the particular con- figuration. ® piCOBOT weight (including adapter plate) g [oz] 1383 [48.8] Adjustable gripper weight (optional equipment) g [oz] 256 [9.0]...

  • Page 42: Dimensions

    Dimensions 9. Dimensions ® 9.1. 1-2 COAX Position Description Compressed air Vacuum Exhaust Description Unit Value B = Ø6 mm : A = 19.5 [0.77] A - Compressed air supply width for different connections B mm [in] B = Ø8 mm : A = 25.75 [1.01] B = Ø10 mm : A = 23.42 [0.92] C - Electrical connection Connector M8 8-pin Male...

  • Page 43: Coax

    Dimensions ® 9.2. 3-4 COAX Position Description Compressed air Vacuum Exhaust Description Unit Value B = Ø6 mm : A = 19.5 [0.77] B = Ø8 mm : A = 25.75 [1.01] A - Compressed air supply width for different connections B mm [in] B = Ø10 mm : A = 23.42 [0.92] B = 2x Ø10 mm : A = 29.8 [1.18]...

  • Page 44: Adapter Plates

    Dimensions 9.3. Adapter plates Page 44 of 48 piCOBOT® L General...
  • Page 45 Dimensions piCOBOT® L General Page 45 of 48...

  • Page 46: Warranty

    Warranty 10. Warranty The Seller gives its Customers a five-year warranty from the receipt of the Products for vacuum pump Prod- ucts (excluding vacuum pumps with electronics/controls, electro-mechanical vacuum pumps, accessories, and controls). The Seller gives its Customers a one-year warranty from the receipt of the Products for all other Products (i.e.

  • Page 47: Recycling And Disposal

    Recycling and disposal 11. 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 AB is certified with ISO-14001:2015. Piab AB also complies with: • RoHS2 (2011/65/EU) •...
  • Page 48 +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...