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PIAB CPT Manual

Cobot palletizing tool
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Cobot Palletizing Tool

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Summary of Contents for PIAB CPT

  • Page 1 Cobot Palletizing Tool...
  • 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

    4.5. Software Installation ......................21 5. Operation ............................. 22 5.1. Operation with Piab URCap (CPT for Universal Robots) ............. 22 5.2. Operation without Piab URCap (CPT for Universal Robots) ..........22 5.2.1. Changing the Tool digital output in UR PolyScope ..........22 5.3.
  • Page 4 8. Technical Data ..........................52 9. Dimensions ........................... 54 9.1. CPT with Foam Gripper ....................... 54 9.2. CPT with Suction cup Gripper .................... 55 9.3. CPT with Cup stabilizer ...................... 57 9.4. CPT Robot interfaces ......................58 10. Warranty ............................. 59 11.

  • Page 5: 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 6: Target Group

    Introduction to the manual 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 • Service and maintenance personnel •...

  • Page 7: Safety Instructions

    2. Safety instructions 2.1. Disclaimer Piab AB is not responsible for installation and operation of CPT 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 CPT installed. The required steps must be undertaken in supervision and approval by authorized integrators.

  • Page 8: Installation

    The integrator must perform a risk assessment on the complete robot application. The CPT is only a component in a robot application thus the safe use of the CPT relies on the integrator’s ability to design a safe robot application. The CPT is designed with features especially suitable for collaborative applications, such as: •...

  • Page 9: Intended Use

    • The product shall be installed in accordance with installation instructions. • The product shall be maintained in accordance with maintenance instructions. • The CPT is an end-of-arm tooling on collaborative robots, used for gripping and holding objects. Typical applications are: •...

  • Page 10: Introduction To The Cpt

    SE-182 12 Danderyd 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 Batch number. 3.3. Compliance...

  • Page 11: Overview

    OLED display and select See Interface section buttons Base plate Attaches the CPT to a foam gripper plate or a suction cup plate. Cup stabilizer Optional accessory, ordered separately. Only for use with CPT with suc- ® tion cup (piGRIP FX39) gripper.

  • Page 12: Storage And Transportation

    CPT off-centre distance (50 mm or 100 mm). 3.5. Storage and transportation Store the CPT in the original packaging, as delivered, at room temperature. The humidity should be 30–70%. Always keep the packaging dry! When transporting the CPT, preferably keep it in the original packaging.

  • Page 13: Installation

    • Do not use CPT with compressed air pressure and/or electrical voltage outside specifica- tion. • The CPT has a Normally Closed (NC) vacuum valve. In case of loss of electrical power and/or compressed air feed, the CPT will stop generating vacuum.

  • Page 14: Mechanical Installation

    Install the guiding pin (Mounting kit CPT robot interface) on the robot interface. There are two possible positions for the pin, deciding CPT the off-centre distance of 100 mm or 50 mm. Note that the screw head on the robot interface is a grounding point.
  • Page 15 On the CPT, connect the compressed air tube (A) and the electrical cable (B). Observe the guide notch on the electrical connection of CPT.

  • Page 16: Electrical Installation

    Pull the compressed air tube and electrical cable through one hole each on the robot interface. Attach the CPT pump unit to the robot interface with four M5x60mm screws and fender washer M5 (Mounting kit CPT robot interface). Recommended torque is 1.25 Nm [0.92 lb ft].

  • Page 17: Pin Configuration

    Installation 4.3.1. Pin configuration Figure 2. M12 8-pin male connection on CPT. For UR robots there is a special adapter cable M12 8-pin female (CPT side) to M8 8-pin female 90° angled (UR robot side), art.No. 0242897. Page 17 of 64...

  • Page 18: Pin Configuration Standard-Io (General Cpt)

    Installation 4.3.1.1. Pin configuration Standard-IO (General CPT) Standard pump setup (setup of pump at delivery) when using CPT with Standard-IO. Cable Name Description Value color White Supply voltage Brown Common, 0 VDC (V-) Green Digital input *0 = Vacuum control Valve 1 control or C2 con-...

  • Page 19: Pin Configuration Io-Link (General Cpt)

    If using UR robot with a power cable other than the one provided by Piab on delivery of CPT: you must change to PNP on your tool 1 slot on the UR robot. See Instructions in “Changing the Tool digital output in UR PolyScope“.

  • Page 20: Pneumatic Installation

    Installation 4.4. Pneumatic installation Warning Ensure that the compressed air line is properly secured to avoid personal injury, equipment damage, and/or application failure. Attach the compressed air hose on the robot joints using the included set of straps. Ensure that the exhaust from the ejector is not blocked. When connecting compressed air to the unit, it is important to choose proper hose dimensions, if using other hose than included, to prevent pressure drop.

  • Page 21: Software Installation

    Installation 4.5. Software Installation See the separate URCap manual for how to install and use Piab's software plugin for UR robots. Page 21 of 64...

  • Page 22: Operation

    5.2. Operation without Piab URCap (CPT for Universal Robots) Notice For use of CPT with UR cobots without Piab URCap, it is necessary to check that the CPT has the correct pin configuration. Go to Menu > Configuration > Vacuum ctrl type > Confirm the NPN mode if it is not the pre-set value.
  • Page 23 Operation Select the Tool I/O under the General tab. In the Digital Output Mode section, set the Tool Output Voltage to 24 V. Set the Standard Output property Digital Output 1 to Sourcing (PNP). Page 23 of 64...

  • Page 24: Payload And Off-Centre Distance

    5.3. Payload and off-centre distance The CPT enables the user to change the off-centre distance of the robot interface. The possibilities are 50 mm offset distance, to pick up heavier loads, or 100 mm offset distance, to have a greater reach.
  • Page 25 Notice The Maximum payload values in the table below only apply with at least 75% coverage of the CPT foam gripper area by the payload. The exact position of the package or packages (payload) can vary. Figure 5. 100 mm off-centre mounting of CPT Figure 6.

  • Page 26: Interface

    Operation 5.4. Interface Position Description Note Flow setting of Blow-Off Manual override of Blow-Off valve (requires power to Push button to activate, push again to de- unit to operate) activate. Manual override of Vacuum valve (requires power to Push button to activate, push again to de- unit to operate) activate.
  • Page 27 10 seconds. The OLED has a screensaver that will turn on after 5 minutes of inactivity. There are two buttons, one OLED screen and two LEDs in green and blue on the CPT. As soon as the CPT 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 28: Menu Overview Cpt - Io-Link Ready

    Operation 5.5. Menu overview CPT - IO-Link ready Page 28 of 64...

  • Page 29: Menu Settings

    Operation 5.6. Menu settings Parametrization Menu name Preset Range Unit Comment value Part Present vacuum lev- 40 [12] 0…100 -kPa [- Normally used as Part Present level el setpoint inHg] Part Present hysteresis 2 [1] 0…100 -kPa [- inHg] Energy Saving (ES) vac- 99 [29] 0…100 -kPa [-...
  • Page 30 Operation Configuration Menu name Configuration Comment Factory reset Confirm Returns unit back to factory set of parame- terization and configuration values based on product CODE. Energy Saving type ES disabled Preset depending on configuration. See corre- sponding chapter Function. ES on setpoint 2 ES with ALD ES on setpoint 2 - ALD backup Blow-Off type...
  • Page 31 Operation Menu name Configuration Comment Part present vacuum level achieved on configuration. See corresponding chapter (PP) Function. Energy Saving vacuum level achieved Analogue signal is continuous from 1 to 5 V. (ES)  Leakage Warning (LW) Blow-Off complete (BOC) Analog vacuum level (1-5V) Vacuum control type Base input.
  • Page 32 E.g. R02, see your pump for the correct value Firmware revision (FW) E.g. revision 1.0 Application TAG Application TAG Example Production ordering CODE PCS.F.305.S.KFAA.XXX.1X.8.XX.CCAB Production date E.g. 2024-02-20 Service menu Menu name Comment Piab lock For Piab developers only. Page 32 of 64...

  • Page 33: Functions

    Functions 6. Functions 6.1. Vacuum control Vacuum control is controlled either through Standard-IO input (PNP or NPN, configurable) or IO-link process data out (active high or active low). For a normally closed pump, vacuum is activated by an "active" input signal.

  • Page 34: Parametrization

    Functions 6.2. Parametrization 6.2.1. Part Present (PP) Part Present (PP) is used as an indicator that the part was successfully picked. PP is set to value low when vacuum level drops below the value set for Part Present hysteresis. 6.2.2. Energy Saving (ES) Energy Saving (ES) functions reduce energy consumption and noise levels whenever the application and conditions allow for it.

  • Page 35: Automatic Es Condition Monitoring (Acm)

    Functions 6.2.6. Automatic ES Condition Monitoring (ACM) Automatic Condition Monitoring (ACM) has the function of monitoring the Energy Saving function. If a sub- stantial leakage occurs, it will trigger a valve protective function (Leakage Warning, LW) to avoid high speed repetitive activation of the valves.

  • Page 36: Automatic Timer Blow-Off (Atbo)

    The Blow-Off duration is set with a timer. ATBO will save on I/Os needed to control CPT, this can be of great importance if several units are connected to one controller. ATBO makes programming easier and can be used to fine-tune Blow-Off duration to reduce cycles time.

  • Page 37: Configuration

    Functions 6.3. Configuration 6.3.1. Factory reset Factory reset returns the product to the values set for parameterization and configuration parameters based on the product code. 6.3.2. Sensor calibration Zero-point calibration of sensor procedure (pressure range 1 atm ± 10 kPa): Make sure the pump is in an IDLE state. Navigate on the display menu to Sensor calibration, located under Configuration.

  • Page 38: V2 Standard-Io Function

    Functions 6.3.6. V2 Standard-IO function Selects how input mode on V2 Standard-IO-pin shall be interpreted. Parameter Description Vacuum control Vacuum control Blow-Off control Blow-Off control Disable ES Set pin to HIGH - Disables Energy Saving Function and its derivative function Leakage Warning.

  • Page 39: Blow-Off Control Type

    Functions 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). 6.3.11. Blow-Off control type Parameter Description Same as base input Sets the input type to operate PNP when base input type is PNP.

  • Page 40: Under-Voltage Detection (Uvd) Counter

    Functions During a self-check the gripper arrangement shall avoid contact with the handled object (robot/automation cell shall not be in pick or drop-off position). Vacuum system self-check is a sequence where: 1.Vacuum is activated for a 5 second duration IBO is activated. The system then calculates the Filter Performance Factor and stores the current free running vacuum level (and fresh free running vacuum level if it is the first time used since last reset.) Parameter associated with...

  • Page 41: First Time To Hit (Ftth)

    Functions 6.4.11. First Time To Hit (FTTH) First Time To Hit (FTTH) is the time from when “Vacuum On” is turned on until the vacuum level has reached 20 -kPa below the free-running vacuum level of the system. The value can be used as a reference as to how fast the system was running when initially commissioned.

  • Page 42: Maintenance

    • Maintenance must be performed with a fixed period short enough, to ensure a firm grip at all times. • An overall inspection of the CPT must be performed on a regular basis with a duration depending on the application characteristics.

  • Page 43: Spare Parts

    Do NOT use an Allen key or similar to mount suction cups with sense valves. To change the suction cup plate, it is recommended to first dismount the CPT from the robot and lay it down on a table for better access.

  • Page 44: Changing The Foam Gripper

    Remove the old foam pad from the foam gripper plate, carefully remove any glue residue from the foam gripper plate. Make sure that the foam gripper plate is mounted to the base plate of the CPT main unit before installing a new foam pad on the foam gripper plate.

  • Page 45: Removing The Coax ® Cartridges

    Pay attention to align the holes in the foam pad with the screws that mount the foam gripper plate to the base plate. Figure 13. Installation of new foam pad on the CPT gripper. ®...
  • Page 46 Maintenance Remove the suction cup plate or foam plate from the base plate. Remove the base plate. Page 46 of 64...
  • Page 47 Maintenance Remove the silencer unit by unscrewing the four M3x12mm screws, two on top and two on the bottom side of the main unit. ® Pull out the COAX cartridges with a pair of nose pliers. ® ® ® Replace with new COAX cartridges, or clean the COAX cartridges (See cleaning the COAX cartridg-...
  • Page 48 Maintenance Reverse the above steps. Mount the silencer housing with four screws (M3x12mm, 0.4 Nm [0.30 lb ft] torque). Mount the base plate on the pump unit with six screws (M4x6mm, 0.5 Nm [0.37 lb ft] torque) and sealing washers. Make sure the sealing ring is in place when mounting the base plate. Page 48 of 64...

  • Page 49: Cleaning The Coax ® Cartridge

    Maintenance Mount the suction cup plate or foam gripper plate on the base plate, with six screws (M4x14mm, 0.5 Nm [0.37 lb ft] torque) for CPT300 and CPT400, and for CPT500 four additional screws (M4x6mm, 0.5 Nm [0.37 lb ft]). ®...

  • Page 50: Troubleshooting

    7.8. Accessories The cup stabilizer (also referred to as distance holder) is an accessory available for CPT when equipped with suction cup gripper. It is not incorporated in the product configurator of the CPT unit but needs to be ordered separately.
  • Page 51 Maintenance Item no Description ® 0242348 Cup Stabilizer for Suction cup FX39 (piGRIP ) gripper Page 51 of 64...

  • Page 52: Technical Data

    Description Unit Value Installation Weight kg [lb] See the configurable datasheet, available on piab.com, for the value of the particular config- uration. Robot interface ISO50 ISO 9409-1-50-4-M6 Robot interface ISO80 ISO 9409-1-80-4-M8 Material Al, SS, CuZn, PA, NBR, PU, Cu Supply voltage 24 ±...
  • Page 53 Technical Data Description Unit Value Signal range (digital output) kPa [inHg] -101.3 - 140 [-29.92 - 41.34] Valve response time Switch output S1/S2, max. 2x40 simultaneously or 1x80 one at a time Page 53 of 64...

  • Page 54: Dimensions

    Dimensions 9. Dimensions 9.1. CPT with Foam Gripper Figure 14. Dimensions of CPT equipped with foam gripper. CPT size A - mm [in] Interface off-centre distance - mm B - mm [in] 230.5 [9.1] CPT300 330 [13.0] 280.5 [11.0] 250 [9.8] CPT400 400 [15.7] 300 [11.8]...

  • Page 55: Cpt With Suction Cup Gripper

    Dimensions 9.2. CPT with Suction cup Gripper Figure 15. Dimensions of CPT equipped with suction cup gripper. CPT size A - mm [in] Interface off-centre distance - mm B - mm [in] 230.5 [9.1] CPT300 330 [13.0] 280.5 [11.0] 250 [9.8] CPT400 400 [15.7]...
  • Page 56 Dimensions Figure 16. Dimensions of threads for CPT equipped with suction cup gripper but no cups installed. Page 56 of 64...

  • Page 57: Cpt With Cup Stabilizer

    Dimensions 9.3. CPT with Cup stabilizer Figure 17. Dimensions of CPT equipped with cup stabilizer. CPT size A - mm [in] B - mm [in] CPT300 241.9 [9.52] 77.2 [3.04] CPT400 306.9 [12.1] 32.1 [1.26] CPT500 371.3 [14.62] 82.1 [3.23] Page 57 of 64...

  • Page 58: Cpt Robot Interfaces

    Dimensions 9.4. CPT Robot interfaces Figure 18. Dimensions of CPT Robot interface ISO50. Figure 19. Dimensions of CPT Robot interface ISO80. Figure 20. ISO80 and ISO50 robot interfaces. Page 58 of 64...

  • Page 59: 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 60: 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 64 +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...