ROBOTIQ AirPick, Original Notice

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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
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