ROBOTIQ EPick User manual

Category
Robotics
Type
User manual

This manual is also suitable for

Robotiq AirPickVacuumGripper
forCB-SeriesUniversal Robots
InstructionManual
robotiq.com | leanrobotics.org
Original Notice
© 2019Robotiq Inc.
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
3
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
5
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
© 2016-2019Robotiq Inc.All rightsreserved.
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
ThetermsGripper,''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
10
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.
11
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.
12
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.
13
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
14
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.
15
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.
17
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
18
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
19
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.
20
  • Page 1 1
  • Page 2 2
  • Page 3 3
  • Page 4 4
  • Page 5 5
  • Page 6 6
  • Page 7 7
  • Page 8 8
  • Page 9 9
  • Page 10 10
  • Page 11 11
  • Page 12 12
  • Page 13 13
  • Page 14 14
  • Page 15 15
  • Page 16 16
  • Page 17 17
  • Page 18 18
  • Page 19 19
  • Page 20 20
  • Page 21 21
  • Page 22 22
  • Page 23 23
  • Page 24 24
  • Page 25 25
  • Page 26 26
  • Page 27 27
  • Page 28 28
  • Page 29 29
  • Page 30 30
  • Page 31 31
  • Page 32 32
  • Page 33 33
  • Page 34 34
  • Page 35 35
  • Page 36 36
  • Page 37 37
  • Page 38 38
  • Page 39 39
  • Page 40 40
  • Page 41 41
  • Page 42 42
  • Page 43 43
  • Page 44 44
  • Page 45 45
  • Page 46 46
  • Page 47 47
  • Page 48 48
  • Page 49 49
  • Page 50 50
  • Page 51 51
  • Page 52 52
  • Page 53 53
  • Page 54 54
  • Page 55 55
  • Page 56 56
  • Page 57 57
  • Page 58 58
  • Page 59 59
  • Page 60 60
  • Page 61 61
  • Page 62 62
  • Page 63 63
  • Page 64 64
  • Page 65 65
  • Page 66 66
  • Page 67 67
  • Page 68 68
  • Page 69 69
  • Page 70 70
  • Page 71 71
  • Page 72 72
  • Page 73 73
  • Page 74 74
  • Page 75 75
  • Page 76 76
  • Page 77 77
  • Page 78 78
  • Page 79 79
  • Page 80 80
  • Page 81 81
  • Page 82 82
  • Page 83 83
  • Page 84 84
  • Page 85 85
  • Page 86 86
  • Page 87 87
  • Page 88 88
  • Page 89 89
  • Page 90 90
  • Page 91 91
  • Page 92 92
  • Page 93 93
  • Page 94 94
  • Page 95 95
  • Page 96 96
  • Page 97 97
  • Page 98 98
  • Page 99 99
  • Page 100 100
  • Page 101 101
  • Page 102 102
  • Page 103 103
  • Page 104 104
  • Page 105 105
  • Page 106 106
  • Page 107 107
  • Page 108 108
  • Page 109 109
  • Page 110 110
  • Page 111 111
  • Page 112 112
  • Page 113 113
  • Page 114 114

ROBOTIQ EPick User manual

Category
Robotics
Type
User manual
This manual is also suitable for

Ask a question and I''ll find the answer in the document

Finding information in a document is now easier with AI