ROBOTIQ AX20 Installation Manual page 23

3. Enter the appropriate center of mass and TCP of the Gripper.
The TCP and center of mass of the PowerPick20/30 Vacuum Gripper can be found
in the Tool Center Point and Center of Mass section of the PowerPick20/30 user
manual available at robotiq.com/support.
M. Cable Management System
1. Robot Positioning
Move the robot to the Cable management installation position (Installation tab >
●
URCaps > Copilot > Installation positions).
2. Cable Clip Installation
Install the three (3) cable clips with a 0.5 m hook and loop fastener at positions #1,
●
#2, and #3 as shown in the figure above, depending on the robot.
Install the cable clip with a 1 m hook and loop fastener at position #4 (dark gray
●
section of the shoulder joint) as shown in the figure above.
If applicable, rotate all cable clips so that the plastic mount is facing up. This will
●
ensure the good positioning of the tubing.
3. Tubing Installation
Connect the end of the 12 mm double air tube labeled TOOL SIDE to the
●
pneumatic elbow fittings of the PowerPick20/30 Vacuum Gripper's manifold at
the end of the robot arm.
Push the air tube until fully seated.
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Locate the metallic mark on the tubing that is closest to the Gripper (there are
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five (5) metallic marks in total).
At the metallic mark, tightly attach the tubing to the cable clip using a cable tie
●
(red component in the figure below).
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