ROBOTIQ AirPick Operation and maintenance manual

Robotiq AirPick Vacuum Gripper

for Omron-TMSeries Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Revisions 4

1. General Presentation 6

1.1. Gripper nomenclature 6

1.2. Object picking 8

1.3. Setup and control 8

2. Safety 10

2.1. Warning 11

2.2. Intended Use 12

3. Installation 14

3.1. Scope of Delivery 14

3.2. Required Tools and Equipment 17

3.3. Environmental and Operating Conditions 17

3.4. Mechanical Installation 18

3.5. Electrical Setup 26

3.6. Testing the Gripper with the Robotiq User Interface (RUI) 30

4. Software 34

4.1. Overview 34

4.2. Vacuum Gripper register mapping 36

4.3. Robot output registers & functionalities 36

4.4. Robot input registers & status 40

4.5. Vacuum Gripper behavior 43

4.6. Control logic 48

4.7. Modbus RTU communication 48

4.8. Control over OMRON-TM 54

5. User Interface 72

6. Specifications 73

6.1. Technical dimensions 73

6.2. Mechanical specifications 80

6.3. Electrical specifications 89

7. Maintenance 90

7.1. Vacuum Gripper cleaning 91

7.2. Periodic inspection 92

AirPick - Instruction Manual

8. Spare Parts, Kits and Accessories 94

9. Troubleshooting 98

9.1. Vacuum Gripper verification 98

10. Warranty 99

11. Harmonized Standards, Declarations and Certificates 101

11.1. Original EC declaration of incorporation 101

11.2. Applied standards 102

12. Appendix 103

13. Contact 104

AirPick - Instruction Manual

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in

specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this

manual online at support.robotiq.com.

2021/07/01

lUpdate of section 4.3 Robot Output Registers & Functionalities

lUpdate of section 3.1 Scope of Delivery

lUpdate of section 6.2 Mechanical Specifications

lUpdate of section 6.2.2 Center of Mass and Tool Center Point

lUpdate of section 8. Spare Parts, Kits and Accessories

2020/04/14

lUpdate of Specification and Warranty sections

2019/12/04

lUpdate of the Vacuum Gripper firmware

lUpdate of the Vacuum Gripper behavior and modes

2019/11/06

lAddition of the OMRON Wrist Connection Kit (I/O Coupling)

2019/08/13

lUpdate of the latest TMflow 1.72.3500

lUpdate of the version V_002 of the components

2019/07/02

Initial release

This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by

international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written

consent from Robotiq. Under copyright law, copying includes translation into another language or format.

Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed

by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after

the edition date.

The information contained in this document is subject to change without notice.

1. General Presentation

The terms “Gripper”, ''AirPick Gripper'', ''AirPick Vacuum Gripper'' and ''AirPick'' used in the following manual all refer to the

Robotiq AirPick Vacuum Gripper. The Robotiq AirPick Vacuum Gripper is a robotic peripheral designed for industrial applications. .

The vacuum is generated with a venturi system that uses compressed air as an energy source. Its design makes it a unique robotic

end-of-arm tool to quickly pick, place and handle a large range of parts of varying sizes and shapes.

Info

The following section presents the key features of the Gripper and must not be considered as appropriate to the

operation of the Gripper. Each feature is detailed in the appropriate section.

Info

The following manual uses the metric system. Unless specified, all dimensions are in millimeters.

1.1. Gripper nomenclature

1.1.1. AirPick Gripper

The AirPick is a vacuum Gripper that creates a vacuum via a pneumatic vacuum generator. It is equipped with one or multiple

suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper is compatible with the

Robotiq standard coupling interface.

Fig. 1-1: Robotiq AirPick Gripper

Info

Please refer to the Scope of Delivery section subsection and the Spare Parts, Kits and Accessories section for details on

standard and optional parts.

AirPick - Instruction Manual

1.1.2. Suction Cup System

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

bracket, a manifold, air nodes, port plugs, bumpers, tubing and additional suction cups.

Fig. 1-2: Suction cup system

Info

Please refer to the Installation section for more information on how to integrate the Suction Cup System to AirPick.

Info

Please refer to the Scope of Delivery section subsection and the Spare Parts, Kits and Accessories section for details on

standard and optional parts.

Tip

The owner can use a custom bracket or a mounting plate. The bracket or mounting plate can be installed directly under

the manifold.

AirPick - Instruction Manual

1.2. Object picking

The AirPick Gripper allows:

1. Main unit suction cup

2. Auxiliary system with multiple suction cups

Warning

Object picking causes the compression of the suction cup(s) , which can result in pinching points between the gripper

and the load. Avoid presence of body parts in this zone during operation.

Warning

Before picking any new object or material in autonomous mode, always check that the resulting vacuum level is sufficient

to ensure safe gripping, in order to prevent dropping or ejection of the load.

1.2.1. Main unit suction cup

In order to use only one suction cup, the single cup can be mounted right in the port of the vacuum generator.

1.2.2. Auxiliary system with multiple suction cups

A standard Suction Cup System can be attached to the AirPick Vacuum Gripper. The bracket normally holds two or four suction

cups (corresponding to the four ports of the manifold).

Any unused manifold port should be blocked with a mating plug to avoid air leakage.

Other custom mounting options can also be used to benefit from a multiple suction cups solution

Caution

Custom brackets and plates must meet the required technical specifications (refer to the Technical dimensions section

subsection).

1.3. Setup and control

The Vacuum Gripper is powered and controlled directly via a single device cable that carries 24 V DC power, an air compressed

cable and Modbus RTU communication over RS-485.

Info

Please refer to the Electrical Setup section subsection for wiring information, and to the Software section for the control

of the Vacuum Gripper.

In order to be used, the AirPick Gripper has to be connected to a Gripper coupling which provides both the mechanical and

electrical connectivity to the Gripper.

Info

Please refer to the Mechanical Installation section for more information on mounting the Vacuum Gripper onto the

coupling. Refer to the Technical dimensions section for the technical drawing, and refer to the Spare Parts, Kits and

Accessories section for a list of the available couplings.

The AirPick Gripper boasts an embedded object detection feature which uses indirect sensing measurements. The system thus

indicates if the workpiece has been dropped or if the Gripper failed to grasp the workpiece.

Info

For more information regarding the object detection feature, please refer to the Software section.

2. Safety

Warning

The operator must have read and understood all of the instructions in the following manual before operating the Robotiq

Vacuum Gripper.

Caution

The term “operator” refers to anyone responsible for any of the following operations on the Robotiq Vacuum Gripper:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

This manual covers the various components of the Robotiq Vacuum Gripper and the general operations regarding the whole life-

cycle of the product, from installation to operation and decommissioning.

The drawings and photos in this manual are representative examples. However, discrepancies may be observed between the visual

supports and the actual product.

AirPick - Instruction Manual

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