ROBOTIQ EPick Manuale operativo e di manutenzione

Robotiq EPick Vacuum Gripper

for CB-Series Universal Robots

Instruction Manual robotiq.com | leanrobotics.org

Original Notice

Revisions 5

1. General Presentation 7

1.1. Gripper nomenclature 7

1.2. Object picking 9

1.3. Setup and control 9

2. Safety 11

2.1. Warning 12

2.2. Intended Use 13

3. Installation 15

3.1. Scope of Delivery 15

3.2. Required Tools and Equipment 18

3.3. Environmental and Operating Conditions 18

3.4. Mechanical Installation 19

3.5. Electrical Setup 27

3.6. Testing the Gripper with the Robotiq User Interface (RUI) 31

3.7. Installation for Universal Robots 32

3.8. URCap Package 33

4. Software 42

4.1. Overview 42

4.2. Vacuum Gripper register mapping 44

4.3. Robot output registers & functionalities 44

4.4. Robot input registers & status 48

4.5. Vacuum Gripper behavior 51

4.6. Control logic 56

4.7. Modbus RTU communication 56

4.8. Control over Universal Robots with URCap 63

5. User Interface 74

6. Specifications 75

6.1. Technical dimensions 75

6.2. Mechanical specifications 88

6.3. Electrical specifications 99

7. Maintenance 101

EPick - Instruction Manual

7.1. Vacuum Gripper cleaning 102

7.2. Periodic inspection 103

8. Spare Parts, Kits and Accessories 105

9. Troubleshooting 109

9.1. Communication 109

9.2. Vacuum Gripper verification 111

9.3. I/O Coupling Troubleshooting 112

10. Warranty 114

10.1. I/O Coupling Warranty 116

11. Harmonized Standards, Declarations and Certificates 117

11.1. Original EC declaration of incorporation 117

11.2. Applied standards 118

12. Contact 119

EPick - 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.

2021/06/04

lUpdate of section 4.3 Robot Output Registers & Functionalities

lUpdate of section 3.1 Scope of Delivery

lUpdate of section 3.6 Installation for Universal Robots

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

Revision 2019/12/04

lUpdate of the Vacuum Gripper firmware

lUpdate of the Vacuum Gripper behavior and modes

lUpdate of the Vacuum Gripper Toolbar

Revision 2019/10/10

lAddition of the Electrostatic Discharge section

lUpdate of the I/O Coupling sections

Revision 2019/08/15

lAdd of Multiple Vacuum Gripper sections

Revision 2019/07/30

Addition of Wrist connection Kit (I/O Coupling) section

2019/06/14

Initial release

EPick - Instruction Manual

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”, "EPick Gripper", "EPick Vacuum Gripper" and "EPick" used in the following manual all refer to the Robotiq

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

vacuum is generated with an electric vacuum pump. 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. EPick Gripper

The EPick Gripper is a vacuum Gripper that generates a vacuum with an electric vacuum pump.. It is equipped with one or multiple

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

Robotiq standard coupling interface.

Fig. 1-1: Robotiq EPick Gripper

EPick - Instruction Manual

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.

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 EPick.

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.

EPick - Instruction Manual

1.2. Object picking

The EPick 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 EPick 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 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 EPick 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 EPick 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.

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