ROBOTIQ AirPick Manuale utente

Robotiq AirPickVacuumGripper

for CB-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. Object picking 12

1.2.1. Main unit suction cup 12

1.2.2. Auxiliarysystem with multiple suction cups 12

1.3. Setup and control 12

2. Safety 14

2.1. Warning 15

2.1.1. Risk assessment and final application: 15

2.2. IntendedUse 16

3. Installation 18

3.1. Scopeof Delivery 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. Required Toolsand Equipment 21

3.2.1. AirPick Gripper Add-On 21

3.2.2. Suction cup system 21

3.3. Environmentaland Operating Conditions 21

3.3.1. Air supply 22

3.3.2. Depressurizing the supply line 22

3.4. MechanicalInstallation 22

3.4.1. Installing the Vacuum Gripper onto the robot 22

SingleGripper 22

InstallationwiththeStandard Coupling Kit 22

Multiple Vacuum Grippers 23

InstallationwiththeURWrist ConnectionKit for CB-Series(I/O Coupling) 24

General presentation& Nomenclature of theI/O Coupling 24

AirPick-Instruction Manual

Safety 25

FirmwareUpdate 25

Mechanical Installation 26

3.4.2. Air tubing 27

Connection of thesuctioncup systems 27

Connection of the air supplylineto 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

SingleGripper 33

Multiple Grippers 33

3.6. Testing the Gripperwiththe Robotiq UserInterface (RUI) 34

3.7. InstallationforUniversalRobots 36

3.8. URCap Package 36

3.8.1. Installing URCap package on CB-Series 38

SingleGripper 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. Vacuum Gripperregistermapping 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

AirPick-Instruction Manual

4.5.1. Control modes 56

Automaticmode 57

Advanced mode 58

Veryporousmaterial detection 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 for2suction cups 75

Bracket for4suction cups 76

6.1.3. Air nodes 78

6.1.4. Couplings 79

Blankcoupling 79

Coupling forISO 9409-1-50-4-M6 80

Coupling forISO 9409-1-31.5-4-M5 81

Coupling forISO 9409-1-40-4-M6 82

Coupling forPCD 56with8xM4 83

Coupling forPCD 56with6xM4 84

Coupling forPCD 60with4xM5 85

Coupling forPCD 63with6xM6 86

6.2. Mechanicalspecifications 87

6.2.1. Payload and force 88

Example 1:Non-porousmaterial 91

Case#2 92

Example 2: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. Vacuum Grippercleaning 98

7.2. Periodicinspection 99

Suctioncupsand airnodes 100

8. Spare Parts, Kitsand Accessories 101

9. Troubleshooting 104

9.1. Communication 104

9.2. Vacuum Gripperverification 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. OriginalEC declarationof incorporation 111

AirPick-Instruction Manual

11.2. Appliedstandards 112

12. Appendix 113

13. Contact 114

Revisions

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

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

manual onlineat:support.robotiq.com.

2019-08-15

lAdd of Multiple Gripperssections

2019-07-30

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

2019-06-14

Initial release

AirPick-Instruction Manual

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

treaties,and therefore maynot be reproduced in whole or inpart,whetherfor sale ornot,without priorwrittenconsent from Robotiq.

Undercopyright law,copying includestranslationinto anotherlanguageorformat.

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

Robotiq for itsuse.Theremaybe somedifferencesbetween themanual and theproduct if theproduct hasbeen modified afterthe

editiondate.

Theinformation contained inthisdocument issubject to changewithout notice.

1.General Presentation

Theterms“ Gripper”,''AirPickGripper'', ''AirPickVacuum Gripper'' and ''AirPick'' used in thefollowing manual all refer to theRobotiq

AirPickVacuum Gripper.TheRobotiq AirPickVacuum Gripperisa roboticperipheral designed for industrial applications..Thevacuum

isgenerated with aventuri system that uses compressed airasanenergysource.Its design makesit a uniqueroboticend-of-arm tool to

quicklypick,placeand handlea largerangeof partsof varying sizesand shapes.

Info

Thefollowing sectionpresentsthekeyfeaturesof theGripperand must not beconsidered asappropriate to theoperation of

theGripper.Eachfeature isdetailed intheappropriatesection.

Info

Thefollowing manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.

1.1.Grippernomenclature

1.1.1. AirPickGripper

TheAirPickis avacuum Gripperthat createsa vacuum via apneumaticvacuum generator.It isequipped with oneor multiple suction

cups.Eachsuctioncup canbe adapted to yourapplicationand grasping needs.The AirPickGripperiscompatiblewiththeRobotiq

standard coupling interface.

Fig.1-1:Robotiq AirPickGripper

Info

Pleasereferto theScopeof Deliverysection subsectionand theSpare Parts,Kitsand Accessoriessection fordetailson

standard and optional parts.

AirPick-Instruction Manual

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