ROBOTIQ AirPick User manual

Robotiq AirPickVacuumGripper

for e-SeriesUniversal Robots

InstructionManual robotiq.com | leanrobotics.org

Original Notice

Robotiq AirPickVacuumGripper

forOmron-TM SeriesRobots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Robotiq AirPickVacuumGripper

for TM Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Robotiq EPickVacuumGripper

forTM Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Robotiq EPickVacuumGripper

forOmron-TM SeriesRobots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Revisions 10

1. GeneralPresentation 12

1.1. Grippernomenclature 12

1.1.1. AirPick Gripper 12

1.1.2. Suction Cup System 13

1.2. Object picking 14

1.2.1. Main unit suction cup 14

1.2.2. Auxiliarysystem with multiple suction cups 14

1.3. Setup and control 14

2. Safety 16

2.1. Warning 17

2.1.1. Risk assessment and final application: 17

2.2. IntendedUse 18

3. Installation 20

3.1. Scopeof Delivery 20

3.1.1. Robotiq AirPick Vacuum Gripper Kit 20

3.2. Required Toolsand Equipment 22

3.2.1. AirPick Gripper Add-On 22

3.2.2. Suction cup system 22

3.3. Environmentaland Operating Conditions 22

3.3.1. Air supply 23

3.3.2. Depressurizing the supply line 23

3.4. MechanicalInstallation 23

3.4.1. Installing the Vacuum Gripper onto the robot 23

SingleGripper 23

Multiple Vacuum Grippers 25

3.4.2. Air tubing 26

Connection of thesuction cup systems 26

Connection of the air supplylineto theAirPickVacuum Gripper 27

3.4.3. Suction cup system 28

Manifold and mounting bracket 28

Suctioncupsand airnodes 29

3.5. ElectricalSetup 29

AirPick-InstructionManual

3.5.1. Pinout interface 30

3.5.2. Coupling to controller 30

3.5.3. Coupling to wrist 31

SingleGripper 31

Multiple Grippers 32

3.6. InstallationforUniversalRobots 32

3.7. URCap Package 33

3.7.1. Installing URCap package on e-Series 34

SingleGripper 34

Multiple Grippers 36

3.7.2. Uninstalling URCap Package 38

3.7.3. License Agreement 39

4. Software 42

4.1. Overview 42

4.1.1. Control using registers 42

4.1.2. Control over Universal Robotspackage 43

4.2. Vacuum Gripperregistermapping 44

4.3. Robot output registers& functionalities 44

4.4. Robot input registers& status 48

4.5. Gripperbehavior 51

4.5.1. Control modes 51

Automaticmode 51

Advanced mode 52

Veryporousmaterial detection 54

Object lost/ drop behavior 54

Object secured behavior 54

Object not detected behavior 55

Object releasedelay 55

Emergencystop behavior 55

4.6. Controllogic 55

4.7. ModbusRTUcommunication 55

4.7.1. Connection setup 56

4.8. ControloverUniversalRobotswithURCap 56

4.8.1. Vacuum Gripper Scan 58

AirPick-InstructionManual

4.8.2. Vacuum Gripper Toolbar 59

Overview 59

Features 59

4.8.3. Vacuum Gripper node 60

Command window 60

Grip Command 61

ReleaseCommand 62

Features 63

Advanced Vacuum GripperFunctions 63

5. UserInterface 65

6. Specifications 66

6.1. Technicaldimensions 67

6.1.1. Gripper 67

6.1.2. Suction Cup System 68

Manifold 68

Bracket for2suction cups 68

Bracket for4suction cups 69

6.1.3. Air nodes 71

6.1.4. Couplings 72

Blankcoupling 72

Coupling forISO 9409-1-50-4-M6 73

Coupling forISO 9409-1-31.5-4-M5 74

Coupling forISO 9409-1-40-4-M6 75

Coupling forPCD 56with8xM4 76

Coupling forPCD 56with6xM4 77

Coupling forPCD 60with4xM5 78

Coupling forPCD 63with6xM6 79

6.2. Mechanicalspecifications 80

6.2.1. Payload and force 81

Example 1:Non-porousmaterial 84

Case#2 85

Example 2:Porousmaterial 85

Case#1 87

6.2.2. Center of massand tool center point 88

6.2.3. Moment Limitation 89

6.3. Electricalspecifications 89

7. Maintenance 90

7.1. Vacuum Grippercleaning 91

7.2. Periodicinspection 92

Suctioncupsand airnodes 93

8. Spare Parts, Kitsand Accessories 94

9. Troubleshooting 97

9.1. Communication 97

9.2. Vacuum Gripperverification 99

10. Warranty 100

11. Harmonized Standards, Declarationsand Certificates 102

11.1. OriginalEC declarationof incorporation 102

11.2. Appliedstandards 103

12. Appendix 104

13. Contact 105

Revisions

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

specifications.If such modificationismade,themanual will also berevised,seerevision information.Seethelatest versionof this

manual onlineat:support.robotiq.com.

2019-08-15

lAdd of Multiple Gripperssections

2019-06-14

Initial release

AirPick-InstructionManual

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