ROBOTIQ EPick User manual

Robotiq AirPickVacuumGripper

forCB-SeriesUniversal Robots

InstructionManual

robotiq.com | leanrobotics.org

Original Notice

Revisions 8

1. GeneralPresentation 10

1.1. Grippernomenclature 10

1.1.1. AirPick Gripper 10

1.1.2. Suction Cup System 11

1.2. Objectpicking 12

1.2.1. Main unit suction cup 12

1.2.2. Auxiliarysystem with multiple suction cups 12

1.3. Setupandcontrol 12

2. Safety 14

2.1. Warning 15

2.1.1. Risk assessment and final application: 15

2.2. Intended Use 16

3. Installation 18

3.1. ScopeofDelivery 18

3.1.1. Robotiq AirPick Vacuum Gripper Kit 18

3.1.2. Universal RobotsWrist Connection Kit for CB-Series 19

AirPickWrist Connect Kit forURCB-Series/ One(1)cup (VAC-CB-UR-AIRPICK-KIT1-W) 19

AirPickWrist Connect Kit forURCB-Series/ Two (2)cups(VAC-CB-UR-AIRPICK-KIT2-W) 20

AirPickWrist Connect Kit forURCB-Series/ Four(4)cups(VAC-CB-UR-AIRPICK-KIT4-W) 20

3.2. RequiredToolsand Equipment 21

3.2.1. AirPick Gripper Add-On 21

3.2.2. Suction cup system 21

3.3. EnvironmentalandOperating Conditions 21

3.3.1. Air supply 22

3.3.2. Depressurizing the supplyline 22

3.4. MechanicalInstallation 22

3.4.1. Installing the Vacuum Gripper onto the robot 22

Single Gripper 22

Installationwiththe Standard Coupling Kit 22

Multiple Vacuum Grippers 23

Installationwiththe URWrist ConnectionKit forCB-Series(I/O Coupling) 24

General presentation& Nomenclatureof theI/O Coupling 24

AirPick-InstructionManual

2

Safety 25

Firmware Update 25

Mechanical Installation 26

3.4.2. Air tubing 27

Connection of thesuction cup systems 27

Connection of theairsupplyline to theAirPickVacuum Gripper 28

3.4.3. Suction cup system 29

Manifold and mounting bracket 29

Suctioncupsand airnodes 29

3.5. ElectricalSetup 30

3.5.1. Pinout interface 30

3.5.2. Coupling to controller 31

3.5.3. Coupling to tool connector 33

33

Single Gripper 33

Multiple Grippers 33

3.6. Testing the GripperwiththeRobotiq UserInterface (RUI) 34

3.7. InstallationforUniversalRobots 36

3.8. URCap Package 36

3.8.1. Installing URCap package on CB-Series 38

Single Gripper 38

Multiple Grippers 40

3.8.2. Uninstalling URCap Package 43

3.8.3. License Agreement 44

4. Software 47

4.1. Overview 47

4.1.1. Control using registers 47

4.1.2. Control over Universal Robotspackage 48

4.2. VacuumGripperregistermapping 49

4.3. Robot output registers& functionalities 49

4.4. Robot input registers&status 53

4.4.1. Single Gripper UCH-1.0.0 56

Object Detection 56

4.5. Gripperbehavior 56

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AirPick-InstructionManual

4.5.1. Control modes 56

Automaticmode 57

Advanced mode 58

Veryporousmaterialdetection 60

Object lost/ drop behavior 60

Object secured behavior 60

Object not detected behavior 61

Object releasedelay 61

Emergencystop behavior 61

4.6. Controllogic 61

4.7. ModbusRTUcommunication 61

4.7.1. Connection setup 62

Vacuum Gripperand I/O Coupling communication 62

4.8. ControloverUniversalRobotswithURCap 63

4.8.1. Control with the Wrist Connection Kit (I/O Coupling) 63

4.8.2. Control with the Standard Coupling Kit 65

4.8.3. Vacuum Gripper Scan 66

4.8.4. Vacuum Gripper Toolbar 66

Overview 66

Features 67

4.8.5. Vacuum Gripper node 68

Command window 68

Grip Command 68

ReleaseCommand 70

Features 71

Advanced Vacuum GripperFunctions 71

5. UserInterface 73

6. Specifications 74

6.1. Technicaldimensions 74

6.1.1. Gripper 74

6.1.2. Suction Cup System 75

Manifold 75

Bracket for 2suctioncups 75

4

Bracket for 4suctioncups 76

6.1.3. Air nodes 78

6.1.4. Couplings 79

Blankcoupling 79

Coupling for ISO 9409-1-50-4-M6 80

Coupling for ISO 9409-1-31.5-4-M5 81

Coupling for ISO 9409-1-40-4-M6 82

Coupling for PCD 56 with 8 xM4 83

Coupling for PCD 56 with 6 xM4 84

Coupling for PCD 60 with 4 xM5 85

Coupling for PCD 63 with 6 xM6 86

6.2. Mechanicalspecifications 87

6.2.1. Payload and force 88

Example1:Non-porousmaterial 91

Case#2 92

Example2:Porousmaterial 92

Case#1 94

6.2.2. Center of massand tool center point 95

6.2.3. Moment Limitation 96

6.3. Electricalspecifications 96

7. Maintenance 97

7.1. VacuumGrippercleaning 98

7.2. Periodicinspection 99

Suctioncupsand airnodes 100

8. Spare Parts, Kitsand Accessories 101

9. Troubleshooting 104

9.1. Communication 104

9.2. VacuumGripperverification 106

9.3. I/O Coupling Troubleshooting 107

10. Warranty 109

10.1. I/O Coupling Warranty 110

11. Harmonized Standards, Declarationsand Certificates 111

11.1. OriginalECdeclarationofincorporation 111

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AirPick-InstructionManual

11.2. Appliedstandards 112

12. Appendix 113

13. Contact 114

6

7

Revisions

Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin

specifications.If suchmodification ismade,themanualwill also berevised,seerevisioninformation.Seethelatest version of this

manual onlineat:support.robotiq.com.

2019-08-15

l Add of MultipleGripperssections

2019-07-30

Add of Wrist connectionKit (I/O Coupling Kit)section

2019-06-14

Initial release

AirPick-InstructionManual

8

Copyright

Thismanualand theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational

treaties,and thereforemaynot bereproduced inwhole or in part,whetherforsaleornot,without priorwrittenconsent from Robotiq.

Undercopyright law,copying includestranslation into anotherlanguageorformat.

Information provided byRobotiq inthisdocument isbelieved to beaccurateand reliable.However,no responsibilityisassumed by

Robotiq for itsuse.Theremaybesomedifferencesbetweenthemanual and theproduct if theproduct hasbeenmodified afterthe

editiondate.

Theinformationcontained inthisdocument issubject to changewithout notice.

9

1.General Presentation

Theterms“Gripper”,''AirPickGripper'',''AirPickVacuum Gripper'' and ''AirPick'' used inthefollowing manualall refer to theRobotiq

AirPickVacuum Gripper.The Robotiq AirPickVacuum Gripperisaroboticperipheral designed forindustrial applications..Thevacuum

isgenerated withaventuri systemthat usescompressed airasanenergysource.Itsdesign makesit a uniqueroboticend-of-armtool to

quicklypick,placeand handlealargerangeof partsof varying sizesand shapes.

Info

Thefollowing section presentsthekeyfeaturesof theGripperand must not be considered asappropriateto the operationof

theGripper.Eachfeatureisdetailed in theappropriatesection.

Info

Thefollowing manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.

1.1.Grippernomenclature

1.1.1. AirPick Gripper

TheAirPickisavacuum Gripperthat createsavacuum via a pneumaticvacuum generator.It isequipped withoneormultiplesuction

cups.Eachsuction cup canbeadapted to yourapplicationand grasping needs.TheAirPickGripperiscompatible with theRobotiq

standard coupling interface.

Fig.1-1:Robotiq AirPickGripper

Info

Pleasereferto theScopeof Deliverysection subsection and theSpare Parts,Kitsand Accessoriessectionfordetailson

standard and optional parts.

AirPick-InstructionManual

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1.1.2.Suction CupSystem

A Robotiq Suction Cup System can be installed directly under the Vacuum Gripper. Each Robotiq Suction Cup System includes a

bracket,a manifold,airnodes,port plugs,bumpers,tubing and additional suctioncups.

Fig.1-2:Suctioncup system

Info

Pleasereferto theInstallationsectionformoreinformationon howto integratetheSuction Cup System to AirPick.

Info

Pleasereferto theScopeof Deliverysection subsection and theSpare Parts,Kitsand Accessoriessectionfordetailson

standard and optional parts.

Tip

Theownercanuseacustom bracket oramounting plate.Thebracket ormounting platecanbe installed directlyunderthe

manifold.

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AirPick-InstructionManual

1.2.Object picking

TheAirPickallows:

1. Mainunit suction cup

2. Auxiliarysystemwithmultiple suctioncups

Warning

Object picking causesthecompressionof thesuctioncup(s),whichcanresult inpinching pointsbetweenthegripperand the

load.Avoid presence of bodypartsinthiszoneduring operation.

Warning

Beforepicking anynewobject ormaterial inautonomousmode,alwayscheckthat theresulting vacuum level issufficient to

ensuresafegripping,in orderto prevent dropping orejectionof theload.

1.2.1.Mainunit suctioncup

Inorderto useonlyonesuction cup,thesingle cup canbemounted right intheport of thevacuum generator.

1.2.2.Auxiliary systemwithmultiple suction cups

A standard SuctionCup Systemcanbeattached to theAirPickVacuum Gripper.The bracket normallyholdstwo orfoursuctioncups

(corresponding to thefourportsof themanifold).

Anyunused manifold port should beblocked withamating plug to avoid airleakage.

Othercustom mounting optionscanalso beused to benefit from amultiplesuctioncupssolution

Caution

Custom bracketsand platesmust meet therequired technical specifications(refer to theTechnicaldimensionssection

subsection).

1.3.Setup and control

TheVacuum Gripperispowered and controlled directlyviaasingledevicecablethat carries24VDCpower,anaircompressed cable

and ModbusRTUcommunication overRS-485.

Info

Pleasereferto theElectricalSetup sectionsubsectionforwiring information,and to theSoftwaresectionforthe control of the

Vacuum Gripper.

Inorderto beused,theAirPickGripperhasto beconnected to aGrippercoupling whichprovidesboththemechanical and electrical

connectivityto theGripper.

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Info

Pleasereferto theMechanicalInstallationsectionformoreinformation onmounting theVacuum Gripperonto thecoupling.

Referto theTechnicaldimensionssectionforthetechnical drawing,and referto theSpare Parts,Kitsand Accessoriessection

foralist of theavailablecouplings.

TheAirPickGripperboastsanembedded object detectionfeaturewhich usesindirect sensing measurements.Thesystemthus

indicatesif theworkpiecehasbeendropped or if theGripperfailed to grasp theworkpiece.

Info

Formoreinformationregarding theobject detectionfeature,pleasereferto theSoftwaresection.

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2.Safety

Warning

Theoperatormust haveread and understood allof theinstructionsinthefollowing manual beforeoperating theRobotiq

Vacuum Gripper.

Caution

Theterm “operator” refersto anyoneresponsibleforanyof thefollowing operationson theRobotiq Vacuum Gripper:

l Installation

l Control

l Maintenance

l Inspection

l Calibration

l Programming

l Decommissioning

Thismanualcoversthevariouscomponentsof theRobotiq Vacuum Gripperand thegeneral operationsregarding thewhole life-cycle

of theproduct,from installationto operationand decommissioning.

Thedrawingsand photosinthismanual arerepresentative examples.However,discrepanciesmaybeobserved between thevisual

supportsand the actual product.

AirPick-InstructionManual

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2.1.Warning

Caution

Anyuse of theGripperin non-compliancewiththese warningsisdeemed inappropriateand maycauseinjuryordamage.

Warning

l Airsupplymust bedryand filtered according to ISO 8573-1class3.4.3.

l Airsupplypressuremust be between3and 7barwithan optimal pressureat 6.5bar.

l Makesurethat thetubing isproperlysecured beforepressurizing thegripper.

l Makesurethat thetubing isnot pressurized beforeremoving theairsupplytubefrom thegripper.

l Makesurethat theprovided whitesafetyclip isproperlyinstalled beforepressurizing theVacuum Gripper.

l Alwaysusethesuctioncup systemand itscomponents(airnodes,port plug,etc.)withthe Robotiq Vacuum Gripperonly.

l NeveroperatetheVacuum Gripperwithleaking orwornparts.

l TheVacuum Gripperneedsto beproperlysecured beforeoperating therobot.

l Do not install oroperateaGripperthat isdamaged orlacking parts.

l Neversupplythe Gripperwithanalternating current source.

l Makesureall cord setsarealwayssecured at bothends—Gripperand robot.

l Alwaysmeet therecommended keying forelectricalconnections.

l Makesureno individualsorassetsareinthe vicinityof therobot and/orGripperpriorto initializing therobot.

l Alwaysmeet theGripper’spayload specifications.

l Set yourvacuum level based onyourapplication.

l Keep bodypartsand clothing awayfrom theGripperwhilethedevice ispowered on.

l Do not usetheGripperon peopleoranimals.

l Neverstand undersuspended loadsheld bytheVacuum Gripper.

2.1.1.Risk assessment andfinalapplication:

TheRobotiq Vacuum Gripperismeant to beused oncobotsand industrial robots.

Therobot,theGripperand anyother equipment used inthefinal application must go through a comprehensive riskassessment

processbeforetheycanbe used.Special caremust be takenduring thisstep if custom mounting optionsare used forthe suctioncups.

Caution

It istherobot integrator’sresponsibilityto ensure that all local safetymeasuresand regulationsaremet.

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AirPick-InstructionManual

Thefollowing non-exhaustivelist presentsrisksthat must beassessed during theintegration process:

l Riskof contact betweenbodypartsand suctioncupsduring gripping;

l Riskof load ejectionresulting from lossof vacuum;

l Riskof load dropping resulting from lossof vacuum;

l Riskof pinching betweentheVacuum Gripperand thepart(s)ortheenvironment;

l Riskof damageorbreaking if using acustom suction cup bracket that doesnot meet thetechnical requirements.

Depending on theapplication,theremaybehazardsthat requireadditional protection and/or safetymeasures.Forinstance,the

workpiecehandled bythe Grippercould beinherentlydangerousto theoperator.

Warning

Depending on thesupplysources,whenanemergencystop (e-Stop)buttonispressed,the following consequencesmay

occur.Therobot ownerhasthe responsibilityto do ariskassessment and choosetheappropriateoption.

Supplysources e-Stop consequences

Robot tool supply

(tool connector)

Powerfailureto theVacuum Gripper.The vacuum level will drop to ambient pressureand the

object will be lost.

Robot controllersupply

(Any24Vpin)

Vacuum Gripperpowered ON.

l If anobject isdetected:thevacuum level will continueto beregulated and theobject will

not be lost.

l If no object isdetected:theVacuum Gripperwill go into astandbystate2secondsafter

thee-Stop buttonispressed.

Warning

Lossof vacuum canoccurdueto powerfailureorairsupplyinterruption.

2.2.Intended Use

TheGripperunit isdesigned forgripping and temporarilysecuring orholding objects.

Caution

TheGripperisNOT intended forapplying forceagainst objectsorsurfaces.

Theproduct isintended forinstallation onarobot orotherautomated machineryand equipment.

16

Info

Alwayscomplywithlocal,state,province and/orfederal laws,regulationand directivesregarding automationsafetyand

general machinesafety.

Theunit should beused exclusivelywithintherange of itstechnical data.Anyotheruse of theproduct isdeemed improperand

unintended.Robotiq will not beliableforanydamagesresulting from anyimproperorunintended use.

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3.Installation

Thefollowing subsectionswill guideyou through theinstallationand general setup of yourRobotiq Vacuum Gripper.

Warning

Beforeinstalling:

l Read and understand thesafetyinstructionsrelated to the Vacuum Gripper.

l Verifyyourpackageaccording to thescope of deliveryand yourorder.

l Makesureto havetherequired parts,equipment and toolslisted in Scope of delivery.

Warning

When installing:

l Meet therecommended environmental conditions.

l Do not operatetheVacuum Gripper,oreventurnonthepowersupply,beforethedeviceisfirmlyanchored and themachine

area iscleared.Makesurethat theairsupplyissecured.

3.1.Scope of Delivery

3.1.1.RobotiqAirPick VacuumGripperKit

Standard upondelivery:

l Standard Kit

o

One(1)Pneumaticvacuum generator

o

Two (2)standard suctioncups(two different sizes)

o

One(1)End effectorcoupling kit

o

One(1)USBstick

o

One(1)Tubing 8mm -(8m)

o

One(1)USBto RS485signal converter

o

One(1)RS485to RS232Converter

o

One(1)10-meterscommunicationcable

o

Required hardware

AirPick-InstructionManual

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l 2SuctionCupsKit

o

One(1)Vacuum generator

o

One(1)suctioncup system for2suction cups( 1 manifold,1bracket,tubing,2airnodes,4 suctioncups)

o

Four(4)standard suctioncups(two different sizes)

o

Four(4)port plugs(two alreadymounted onthesuctioncup system)

o

One(1)End effectorcoupling kit

o

10-metercommunication cable

o

One(1)USBto RS485signal converter

o

One(1)RS485to RS232Converter

o

One(1)Tubing 8mm -(8m)

o

Required hardware

l 4SuctionCupsKit

o

One(1)Vacuum generator

o

One(1)suctioncup system for4suction cups(1manifold,1bracket,tubing,4airnodes,8 suctioncups)

o

Eight (8)standard suctioncups(two different sizes)

o

Four(4)port plugs

o

One(1)End effectorcoupling kit

o

10-metercommunication cable

o

One(1)USBto RS485signal converter

o

One(1)RS485to RS232Converter

o

One(1)Tubing 8mm -(8m)

o

Required hardware

3.1.2.UniversalRobotsWrist ConnectionKit forCB-Series

AirPickWrist Connect Kit forURCB-Series/ One (1) cup (VAC-CB-UR-AIRPICK-KIT1-W)

l 1xRobotiq AirPickGripper

l 1xI/O Coupling Kit (IO-CPL-UR-CB-KIT)

l 1xscrewkit to install onthe robot (CPL-SCREW-KIT)

l 1xMicro-USBto USBcable (CBL-MICRO-USB-6FT)

l 1x16GUSBStick(ACC-USB-16G)

l 1xVacuum cup

l 1xTubing 8mm-8m

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AirPick-InstructionManual

AirPickWrist Connect Kit forURCB-Series/ Two (2) cups(VAC-CB-UR-AIRPICK-KIT2-W)

l 1xRobotiq AirPickGripper

l 1xI/O Coupling Kit (IO-CPL-UR-CB-KIT)

l 1xscrewkit to install onthe robot (CPL-SCREW-KIT)

l 1xMicro-USBto USBcable (CBL-MICRO-USB-6FT)

l 1x16GUSBStick(ACC-USB-16G)

l 1xSuctionSystemfortwo (2)cups

l 1xTubing 8mm-8m

AirPickWrist Connect Kit forURCB-Series/ Four (4) cups(VAC-CB-UR-AIRPICK-KIT4-W)

l 1xRobotiq AirPickGripper

l 1xI/O Coupling Kit (IO-CPL-UR-CB-KIT)

l 1xscrewkit to install onthe robot (CPL-SCREW-KIT)

l 1xMicro-USBto USBcable (CBL-MICRO-USB-6FT)

l 1x16GUSBStick(ACC-USB-16G)

l 1xSuctionSystemforfour(4)cups

l 1xTubing 8mm-8m

Info

Pleasereferto theSpare Parts,Kitsand Accessoriessectionforalist of availablecouplings.

Caution

Thefollowing arenot included inthestandard delivery:

l Optionssuch ascustom suction cup brackets/platesorcouplingsformounting onvariousindustrial robots.

l Hardwarerequired for accessoriesorfixtures,unlessspecified.

Info

When purchased asakit,theAirPickVacuum Gripperwillcomeina packagewiththeappropriatecoupling,suction cupsand

cabling.

Pleasereferto theSpare Parts,Kitsand Accessoriessectionforadditional components.

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