ROBOTIQ POWERPICK20 Manuale operativo e di manutenzione

Robotiq PowerPick20 Vacuum Gripper

Instruction Manual

ROBOTIQ POWERPICK20VACUUM GRIPPER

robotiq.com | leanrobotics.org

Original Notice

PowerPick - Instruction Manual

Tableof Contents

Revisions 5

1. General Presentation 7

1.1. Disclaimer 7

1.2. Nomenclature 8

2. Safety 9

2.1. Disclaimer 9

2.2. RiskAssessment 10

2.3. Use of the PowerPick20 Vacuum Gripper 12

3. Installation 13

3.1. Scope of Delivery 13

3.2. Environmental and Operating Conditions 15

3.3. AirSupply 15

3.4. Receptionof the Product 16

3.5. Mechanical Installation 16

3.6. Electrical Installation 30

3.7. SupplyPressure Adjustment 32

3.8. ConfigurationsStepsand Tips 33

4. Software 37

4.1. Grip Check 37

5. Specifications 39

5.1. Technical dimensions 39

5.2. Mechanical Specifications 44

5.3. Tool Center Point and Center of Mass 46

5.4. Electrical specifications 48

5.5. Control specifications 48

6. Maintenance 49

6.1. SafetyMeasures 49

6.2. Maintenance 50

7. Spare Parts, Kitsand Accessories 52

PowerPick - Instruction Manual

8. Troubleshooting 54

9. Warranty 55

9.1. Conditions 55

9.2. Warranty 55

9.3. WarrantyVoid and Exclusions 55

10. Harmonized Standards 57

11. Appendix 58

12. Contact 59

PowerPick - Instruction Manual

Revisions

Robotiq may modify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin

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

manual online at: support.robotiq.com.

2023/10/18

Initial release

PowerPick - Instruction Manual

Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof 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 includestranslation into another language or format.

Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed

byRobotiq for itsuse. There maybe some differencesbetween the manual and the product if the product hasbeen modified after

the edition date.

The information contained in thisdocument issubject to change without notice.

PowerPick - Instruction Manual

1.GeneralPresentation

1.1.Disclaimer

The termsGripper,PowerPick20 Gripper,PowerPick20 Vacuum Gripper and PowerPick20 used in the following manual all refer to

the Robotiq PowerPick20Vacuum Gripper. The Robotiq PowerPick20Vacuum Gripper isarobotic device designed for industrial

applications. The vacuum isgenerated with a venturi system that usescompressed air asan energysource.It isan end-of-arm tool

designed to pick, place and handle arange of items(typically cardboard boxes)of varying sizesand weights.

Info

The following section presentsthe keyfeaturesof the Robotiq PowerPick Vacuum Gripper and must not be considered

asappropriate to the operation of the Gripper. Each feature isdetailed in the appropriate section.

PowerPick - Instruction Manual

1.2.Nomenclature

1.2.1.PowerPick20 Gripper

The PowerPick20 Gripper isa mechanical assembly equipped with interchangeable components. It isthe end-effector of the

robot. It usesthe negative pressure generated by the PowerPick20 Vacuum Generator to create a vacuum and, through the

multiple suction cups, lifts, holdsand movesboxesand other objectsweighting up to18.2kg (40 lb). To simplify thismanual, the

word “box” will be used to represent the item to be handled with the Gripper. The PowerPick20 Gripper isdirectly installed on the

wrist of the robot, without a coupling interface.

Fig. 1-1: PowerPick20Gripper, Default Configuration

1.2.2.PowerPick20 VacuumGenerator

The PowerPick20 Vacuum Generator isan electrical and pneumatic device composed of two solenoid valves, two pressure sensors

and two vacuum generator cartridges. It is an intermediate controller, connected to the robot controller and the PowerPick20

Gripper via I/O terminal blocks and air tubes. The PowerPick20 Vacuum Generator creates and releases the vacuum for the

PowerPick20 Gripper.

Fig. 1-2: PowerPick20Vacuum Generator

PowerPick - Instruction Manual

2.Safety

2.1.Disclaimer

Caution

Any user of the Robotiq PowerPick20 must have read and understood all of the instructionsin the following section

before operating it.

It isthe installer/operator'sresponsibilityto ensure that all local safetymeasuresand regulationsare met.

The intent of thissection isto provide general guidelinesfor safe use of the PowerPick20 vacuum gripper.

Alwaysfollow local regulations.

The installer isresponsible for the safe installation and commissioning of the PowerPick20vacuum gripper.

Robotiq acceptsno liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of thisproduct.

The user (installer and operator)shall observe safe and lawful practicesincluding but not limited to those set forth in this

document.

The term operator refersto anyone responsible for anyof the following operationson the Robotiq Vacuum Gripper:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

Thismanual coversthe variouscomponentsof the PowerPick20vacuum gripper and the general operationsregarding the whole

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

The drawingsand photosin thismanual are representative examples. However, discrepanciesmaybe observed between the

visual supportsand the actual product.

Warning

Any use of the PowerPick20 vacuum gripper in non-compliance with these instructionsisdeemed inappropriate and may

cause injury or damage.

PowerPick - Instruction Manual

2.2.RiskAssessment

2.2.1.GeneralRiskAssessment

The robot, the Gripper and any other equipment used in the final application must go through a comprehensive risk assessment

processbefore theycan be used.

The following non-exhaustive list presentsrisksthat must be assessed during the integration process:

lRiskof contact betweenbody partsand thegripperand/or suction cups;

lRiskof load ejection resultingfromlossof vacuum;

lRiskof load droppingresultingfromlossof vacuum;

lRiskof pinching between theGripper and the itemsbeinghandled,or other objectsin theenvironment.;

Depending on the application, configuration and itemsbeing handled, additional hazardsmaybe present. For instance,the boxes

handled by the Gripper could be inherently dangerousto the operator. Such hazardsmay require additional protection or safety

measures(e.g., light curtains, safety scanners, enclosure, etc.).

To ensure an adequate level of safety, floor markingsmust be applied to delineate safe zonesaround the work cell. It isthe

responsibility of the integrator to establish the proper safe distance from the work cell to protect the user.

The software allowsfor the limiting of the robot'sspeed, force and working area in order to reduce residual risk. These measures

can namelygive the operator more time to react appropriately,and reduce the robot’sbrake time.

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