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PIAB piCOBOT Manual
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PIAB piCOBOT Manual

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

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Summary of Contents for PIAB piCOBOT

  • Page 1 Manual piCOBOT ® General Air driven ejector unit for vacuum grippers...
  • 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 For detailed information about the Adjustable Gripper, please see the manual and datasheets for Adjustable Gripper on piab.com...

  • Page 3: Table Of Contents

    2.2 Safe usage ......5 9.4 Replacement of piCOBOT filter ..25 ®...

  • Page 4: Introduction To The Manual

    , please visit www.piab.com. This manual is , please visit www.piab.com. This manual is ® ® also available to download at www.piab.com in the 12 also available to download at www.piab.com in the 12 languages shown on page 2. The original instructions languages shown on page 2.

  • Page 5: Safety Instructions

    Prior to assembly and disassembly of the loosen. components, cut off voltage and pressure. Install and maintain the components only after thoroughly reading and understanding this manual. Manual piCOBOT® Page 5/32...

  • Page 6: Intended Use

    The typical applications for piCOBOT are: ® Each unit is identified by a label with identification • Industrial information. For any communication with Piab AB or • Pick-and-place service centers always refer to the label information. • Top loading •...

  • Page 7: Overview And Connections

    See Operational chapter Outlet Exhaust air Feed pressure inlet 6mm Angled push-in style OLED display and select buttons See chapter interface piCHIP10x Ejector unit Vacuum port G1/4” Female M8 8-pin male connection Blow-Off screw Adjustable Blow-Off flow Manual piCOBOT® Page 7/32...

  • Page 8: Installation

    Installation 5. Installation 5.5 Pneumatic diagram Warning! 5.1 What’s in the box Do not install or operate your piCOBOT ® damaged during transport, handling, or use. A damaged product may result in bursting • piCOBOT ® and cause injury or property damage.
  • Page 9 Gripper to the piCOBOT ® 5. Fasten the piCOBOT to the adapter plate using ® the four captive Torx T25 screws. 6. Mount the cable on the piCOBOT and to the ® robot, note the guide notches for the right direction. Manual piCOBOT®...

  • Page 10: Tool Center Points

    Installation 5.7 Tool Center Points TCP location (Y) in mm [inch] from robot flange piCOBOT with suction cup At rest Actuated at 60 -kPa [18 -inHg] ® No cup 66.3 [2.61] 66.3 [2.61] S.B30-2S50.G14M.01 98.8 [3.89] 84.9 [3.34] S.BX35P3060.G14M.50 98.8 [3.78] 86.8 [3.42]...

  • Page 11: Pin Configuration

    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 your piCOBOT® configuration. ** S1 and S2 can deliver 2x40mA simultaneously or 1x80mA one at a time.

  • Page 12: 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 13: 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. Manual piCOBOT® Page 13/32...

  • Page 14: Menu Overview

    Operation 7.3 Menu overview Page 14/32 piCOBOT® Manual...

  • Page 15: 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 Sensor calibration Confirm Resets and calibrates the analog sensor. Manual piCOBOT® Page 15/32...
  • Page 16 0=Same as base C2 control type Follows the base Vacuum control type. 1=Inverted from base 0=NPN S1 control type Base input. 1=PNP 0=Same as base S2 control type Follows the base S1 output type. 1=Inverted from base Page 16/32 piCOBOT® Manual...
  • Page 17 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 Production date E.g. 2019-02-20 Service menu Menu name Comment Piab lock For Piab developers only. Manual piCOBOT® Page 17/32...

  • Page 18: Function

    Function 8. Function NOTE! Some functions are optional and chosen when configuring the piCOBOT for purchase. These functions are denoted with (optional). 8.1 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 19 Vacuum control on previous within 3 seconds, the ES function is deactivated for page. the rest of the cycle. A nice feature if leakage occasionally occurs. If your piCOBOT is configured ® Blow-Off type --> External control (optional)
  • Page 20 Function 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 Time for one Blow-Off puff in milli- SAC duration seconds (range 10..10 000) Default...
  • Page 21 Selects which state to transmit on SIO output S2. Parameter Description Part Present vacuum level Part Present achieved. Vacuum Switch level (PP) S1 achieved. Energy Saving Energy Saving vacuum level vacuum level achieved. Vacuum Switch level (ES) S1 achieved. Manual piCOBOT® Page 21/32...

  • Page 22: Supervision

    PNP. PNP inverted when base is NPN. 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 22/32 piCOBOT® Manual...

  • Page 23: Maintenance

    9.1 Preventive maintenance The piCOBOT has been designed to minimize the need of maintenance. To ensure safe operation the following ® general actions must be in place before safe operation of the piCOBOT is possible. ® • To prevent dust, dirt and larger particles jamming the ejector unit, causing impaired performance, the...

  • Page 24: Spare Parts

    Suction cup BX35P Polyurethane 30/60 with filter, G1/4” male, with mesh filter 9914199 Suction cup piGRIP with Bag lip Silicone, G1/4” male, with mesh filter ® See piab.com Other suction cups with G1/4” fitting are available Page 24/32 piCOBOT® Manual...

  • Page 25: 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 26: Dimensions

    9409-1-31.5-7-M5 by using four screws (instead of seven). Description Unit Value Position Description 71.9 [2.83] - for M02 plate. Compressed air mm [in] 74.0 [2.91] - for M01, M03 and M04 plates. Vacuum M8 8-pin male Exhaust Ø6 Page 26/32 piCOBOT® Manual...
  • Page 27 0.98" 1.57" 1.57" 63.5 2.50" 3.66" 3.66" 4.33" 4.33" Figure 8 ISO 9409-1-40-4-M6 adapter plate. Figure 10 ISO 9409-1-63-4-M6 adapter plate. ISO 9409-1-50-4-M6 adapter plate. Also fits ISO 9409-1-50-7-M6 by using 4 screws (instead of seven). Manual piCOBOT® Page 27/32...

  • Page 28: Technical Data

    Technical data 11. Technical data Description Unit Value Installation Total weight (without suction cups) g [oz] 931 [32.8] piCOBOT weight g [oz] 510 [18] ® Adjustable gripper weight g [oz] 210 [7.4] Max handled weight g [oz] 7000 [246.9] Material...

  • Page 29: Vacuum Flow

    11.3 Values specified in manual The values specified in this manual were tested at: • 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]). • Relative humidity, 20-70%. Manual piCOBOT® Page 29/32...

  • Page 30: Troubleshooting

    Check angle and adjustment on suction Poor gripping. cups. Revise the choice of suction cup(s). The customer application might need other type of suction cups. Ghost signal. S1 comes Clean filter in suction cups. without object in contact. Page 30/32 piCOBOT® Manual...

  • Page 31: Warranties

    (including any component or other parts in such Environmental aspects are considered in the Products (such as suction cups, filter elements, development process of Piab’s products to make sealing’s, hoses, foam, etc.) or to the software of any sure that a minimal environmental footprint is used.
  • Page 32 Brazil China Lagny sur Marne Danderyd (HQ) Sao Paulo Shanghai +33 (0)16-430 82 67 +46 (0)8-630 25 00 +55 (0)11-449 290 50 +86 21 5237 6545 info-france@piab.com info-sweden@piab.com info-brasil@piab.com info-china@piab.com Mölndal Germany Canada India Ergonomic Handling +46 (0)31-67 01 00...