ROBOTIQ PALLETIZING SOLUTION Original Notice
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ROBOTIQ PALLETIZING SOLUTION Original Notice

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ROBOTIQ PALLETIZING
SOLUTION
Original Notice
© 2020 Robotiq Inc.
Robotiq Palletizing Solution
for Universal Robots
robot iq.com | leanrobot ics.org
Instruction Manual

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  • Page 1 ROBOTIQ PALLETIZING SOLUTION Original Notice © 2020 Robotiq Inc. Robotiq Palletizing Solution for Universal Robots robot iq.com | leanrobot ics.org Instruction Manual...

  • Page 2: Table Of Contents

    5.1. Installation on Universal Robotse-Series 5.2. Vacuum Gripper behavior 5.3. AirPick Vacuum control over Universal Robotswith URCaps 6. Specifications 6.1. Technical dimensions 6.2. Mechanical specifications 6.3. Electrical specifications 7. Maintenance 7.1. Linear Axis 7.2. Fasteners Palletizing Solution - Instruction Manual...
  • Page 3 7.3. Air Filter Cleaning 7.4. AirPick Vacuum Gripper 7.5. Solution Cleaning 7.6. Solution Storage 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Palletizing Solution (except the AirPick Gripper) 9.2. AirPick Vacuum Gripper 10. Warranty 11. Harmonized Standards 11.1. Applied standards 12. Appendix 12.1.

  • Page 4: Revisions

    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.
  • Page 5 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.

  • Page 6: General Presentation

    The terms '' Palletizing'', ''Palletizing Solution'' and ''Solution'' used in the following manual all refer to the Robotiq Palletizing Solution. The Robotiq Palletizing Solution is a hardware and software solution already connected and ready to install. It is composed of a base fully integrated with the linear axis, pallet sensors and status lights.
  • Page 7 1 .1 .1 . Base and Column The Robotiq Palletizing Solution is composed of a base and a column on which all the components that are necessary to the good operation of the Solution are attached. Its geometry is designed to facilitate the positioning of the Right and Left pallets without any surrounding obstructions.
  • Page 8 Fig. 1-1: Robotiq AirPick Gripper 1 .1 .7. 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.
  • Page 9 The extra reach gripper bracket is included in the Solution to extend the AirPick Gripper of 200 mm from the robot tool flange. This way, the Robotiq Palletizing Solution will be able to palletize boxes on large size pallets. Please refer to the Extra Reach Bracket section for more details about the limitations of the extension bracket Fig.

  • Page 10: Object Picking

    For the collision avoidance algorithm, the robot control software considers a generic gripper geometric envelope that does not overlap the box. Caution Custom brackets and plates must meet the required technical specifications (refer to the Technical dimensions section. Palletizing Solution - Instruction Manual...

  • Page 11: Palletizing Operation Diagrams

    1 .3. Palletizing Operation Diagrams The following diagrams explain the logical operation of the Palletizing Solution, based on the operator's actions and all responses coming out from them such as signals, pallet and box sensors behaviors, etc.
  • Page 12 Palletizing Solution - Instruction Manual...

  • Page 13: Safety

    2.1 . Disclaimer The intent of this section is to provide general guidelines for safe use of the Robotiq Palletizing Solution, always follow local regulations. The installer is responsible for the safe installation and commissioning of the Palletizing Solution. Robotiq accepts no liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of this product.

  • Page 14: Intended Use

    Caution The unit should be used exclusively within the range of its technical data. Any other use of the solution is deemed improper and unintended. Robotiq will not be liable for any damages resulting from any improper or unintended uses.

  • Page 15: Warnings, Risk Assessment And Final Application

    Palletizing Solution. Caution Any use of the Palletizing Solution in non-compliance with these warnings is deemed inappropriate and may cause injury or damage. The robot, the AirPick Vacuum Gripper or any other gripper used, the linear axis and any other equipment used in the final application must go through a comprehensive risk assessment process before they can be used.
  • Page 16 If no object is detected: the Vacuum Gripper will go into a standby state 2 seconds after the e-Stop button is pressed. The AirPick Vacuum Grip p er that comes with the Rob otiq Palletizing Solution is connected via the rob ot controller. Warning Loss of vacuum can occur due to power failure or air supply interruption.
  • Page 17 (Stop Cat 1 and transition to Cat 0) Emergency stop (Stop Cat 1 and transition to Cat 0) *Calculated using the following assumptions: static force at peak current with a 90% efficient ball screw and no friction. Fig. 2-1: Safety Logical Schema Palletizing Solution - Instruction Manual...
  • Page 18 2.3.2. Linear Axis Stop Category 0 and 1 When a stop is required, the robot and the linear axis start the process at the same time, even if they are independent, so the stopping time can differ. For robot information, please refer to the Universal Robots documentation. For the linear axis: Maximal stopping time for Category 1: 500 ms;...

  • Page 19: Installation

    When installing: Meet the recommended environmental conditions. Do not operate the Palletizing Solution, or even turn on the power supply, before the device is firmly anchored and the machine area is cleared. Make sure that the air supply is secured.

  • Page 20: Scope Of Delivery

    Warning Make sure to follow all the safety rules and regulations of your workplace while using the Robotiq Palletizing Solution. Always wear all recommended personal protective equipment in accordance with your workplace's safety standards, including: Safety glasses; Hearing protection; Hard hats;...

  • Page 21: Required Toolsand Equipment

    3.2. Required Tools and Equipment The following tools are required to install the Palletizing solution: Included: 12.7 mm concrete drill bit (1/2 in) (for use with a rotary hammer) 19mm socket (3/4 in) (10 mm drive size (3/8 in) )

  • Page 22: Environmental And Operating Conditions

    Table 3-1: Environmental and operating conditions of the Robotiq Palletizing Solution Caution Use of the Robotiq Palletizing Solution is not recommended in presence of chemicals in the environment. AirPick Gripper Info The input filter prevents any dust larger than 200 µm from getting inside the gripper. Dry dust will prevent the accumulation on filters.

  • Page 23: Mounting And Installation

    The Robotiq Palletizing Solution is shipped on a pallet. A wood crate is protecting the hardware from external elements. Before removing the crate, make an inspection of it to make sure there is no damage or defect. If it's the case, you must contact Robotiq support team.
  • Page 24 Warning: Transport & Lift Hazard The transport, lifting, and moving of the Palletizing Solution should be done by qualified professionals. Failure to do so may result to machine damage, serious injuries or death. Warning Crush Hazard: Keep your hands and body parts clear when lowering the column onto the base. Failure to do so could result in serious injuries or death.
  • Page 25 6. Lift the foot base, unscrew the piece of wood under the foot base. Remove the piece of wood and descend the Solution slowly and carefully (see the picture below). Palletizing Solution - Instruction Manual...
  • Page 26 7. Position the column vertically. Use the lift point to rotate the column. Caution Be careful not to pinch the cables. If necessary, secure them before lifting and placing the column on the base.
  • Page 27 A hook is present at the top of the column. Use it to lift the column. 9. Secure the base with the column using the four (4) M10 screws. Tighten to a torque of 50Nm. Palletizing Solution - Instruction Manual...
  • Page 28 Warning: Transport & Lift Hazard The transport, lifting, and moving of the Palletizing Solution should be done by qualified professionals. Failure to do so may result to machine damage, serious injuries or death.
  • Page 29 3.4.4. Mechanical and Electrical Installation A minimum of two people is recommended for theses steps. Base Cover 1. Remove the cover that will allow the cable management. Palletizing Solution - Instruction Manual...
  • Page 30 Robot installation Info UR10 or UR10e cobot are required for the installation. The cobot is not included in the Robotiq Palletizing solution. For robot installation, few cables need to be wired. The figure below resumes the identification of the column holes.
  • Page 31 4. Install the cable management system ring on the protector joint sticker present on the tube (near the carriage). The robot cable must emerge towards the top of the ring so it can be maintained (see the picture bellow). Palletizing Solution - Instruction Manual...
  • Page 32 5. Install the Igus R-Lock at the extremity of the cable management system before clipping the tube in the bracket. It will ensure the good functionality of the cable management. 6. Reclip the mounting bracket of the cable management system. Info Refer to the cable routing system manufacturer installation instructions for more details.
  • Page 33 Power Cables Connections 1. Plug the power cable output of the linear axis controller into the UR controller. 2. Plug the robot power cable into the UR controller. 3. Connect the Teach Pendant to the UR controller. Palletizing Solution - Instruction Manual...
  • Page 34 4. Plug the UR controller power cable into the linear axis controller. Pass the cable through the hole #2. Then, continue to channel the cable through the column and the base and bring it out from the other extremity of the base. Info The safety signals wires sticking out of the linear axis controller are inputs only.
  • Page 35 2. Turn counterclockwise the column as much as possible. 3. Position the robot so that the wrist is on the outside left side of the base like shown in the figure below. Palletizing Solution - Instruction Manual...
  • Page 36 4. Move the robot so the robot tool flange is parallel to the ground: change the feature reference to Base and modify the tool pos- ition like the following: RX=0°, RY= 180°, RZ=0°. 5. Modify the Tool Position X value (base reference) to 333.35 mm (TCP must be 0). Warning Move the robot slowly and watch the movement to avoid collisions.
  • Page 37 2. Using four (4) M6 screws and tooth lock washers, secure the coupling on the robot tool flange or on the extra reach gripper bracket . 3. Mount the Vacuum Gripper on the gripper coupling. Align with the dowel pin. 4. Secure by inserting the M5 screws and tooth lock washers. Palletizing Solution - Instruction Manual...
  • Page 38 If the two or four suction cups bracket is needed: 1. Align the flat surface on the manifold with the shoulder of the vacuum generator. 2. Secure the manifold by inserting screws and tooth lock washers in a cross pattern to properly compress the O-ring of the gen- erator.
  • Page 39 Install the four (4) straps and attach the tube in the three first straps only. The strap with a clamp (near to the wrist) has to be installed last. Make sure to allow extra cable length to allow all possible robot movements. Palletizing Solution - Instruction Manual...
  • Page 40 1. Run the coupling cable through the smallest part of the plastic strain relief. If you use the extra reach bracket, make sure to run the cable through the second hole of the bracket first. 2. Orderly thread the cable through the cord grip, the ''L'' bracket and the locknut. 3.
  • Page 41 Maximum pressure allowed is 7 bar (recommended pressure is 6.5 bar). We recommend using a local pressure regulator with a filter and an air dryer. 11. Install the small cover on the side of the column with the provided screws. Palletizing Solution - Instruction Manual...
  • Page 42 12. Shutdown the robot and power off the linear axis controller. Caution You have to shutdown the robot BEFORE starting the inter-controller and safety signal connections. Inter-controller connections 1. Open the UR controller. Plug the USB hub into a USB port. 2.
  • Page 43 Caution Follow the installation guidelines in the UR manual for Emergency stop or Safeguard connections. Use the connector supplied by Robotiq for Safeguard connections. If the safeguard is not used, add jumpers between pin 1-2 and 3-4. Do not forget to connect the safety reset wire (white color) according to your safety setup. For more details, please refer to the table in the Safety Connections section.
  • Page 44 3. Connect the white, green and bare wires to the Robotiq RS-485 signal converter as shown in the figure below. Also connect the red (24V) and black (0V) wires in the terminal blocks of the robot controller. Fig. 3-2: Vacuum Gripper wiring to robot controller 4.
  • Page 45 Anchoring the Solution Warning: Transport & Lift Hazard The transport, lifting, and moving of the Palletizing Solution should be done by qualified professionals. Failure to do so may result to machine damage, serious injuries or death. Warning The Solution must only be installed and anchored by qualified staff. If you use the anchors provided with the Solution, it should be installed in 28 MPa [4000 psi] undamaged concrete (minimum).
  • Page 46 Warning Make sure to follow all the safety rules and regulations of your workplace while using the Robotiq Palletizing Solution. Always wear all recommended personal protective equipment in accordance with your workplace's safety standards, including: Dust mask; Safety glasses; Always use proper safety precautions when working with tools that contain sharp edges, pinching surfaces, or generate heat.

  • Page 47: Other Grippers

    If your gripper does not fit the following models, it can still work, but Robotiq does not guarantee that there will be no collision. The gripper model is depending on the box dimensions and is obtained according to these criteria:...
  • Page 48 If a TCP offset is added in the X and/or Y direction, it is considered that an extra reach bracket is used. A rectangular prism is then added at the end of the bracket, according to the rules mentioned above. Bracket representation Height Width...

  • Page 49: Installation For Universal Robots

    3.6. Installation for Universal Robots The table below shows which Robotiq software to use with your Universal Robots’ controller. Please refer to the URCap Package section for the installation of the UR software packages for the Palletizing Solution. Robotiq Software CB3.1 Controller...
  • Page 50 On e-Series robots Make sure that your PolyScope version is up-to- date and that your Universal Robots controller is compatible with the Palletizing solution URCap package. Go to support.robotiq.com, and select the Univer- sal Robots brand. Select Palletizing Solution. Click on Software →...
  • Page 51 Universal Robots controller is compatible with the Palletizing URCap package. Go to www.support.robotiq.com, select Browse by product. Click on your Robotiq product page and then Universal Robots Click on Software → Robotiq product URCaps → down- load the zip of URCaps and extract them on the root of a blank USB stick.
  • Page 52 Tap the plus (+) button to add the URCaps package. Open the URCaps. Restart PolyScope to complete the URCap installation.By doing so, you accept the License Agreement that is detailed in the URCap Information text box (see below for the License Agreement). When PolyScope reopens, the ActiveDrive toolbar will appear on the screen.
  • Page 53 Select System in the navigation pane on the left. Select URCaps. In the Active URCaps box, select the URCap to uninstall. Tap the minus (-) button to uninstall the URCap. Restart Polyscope to complete the unin- stallation process. Palletizing Solution - Instruction Manual...
  • Page 54 On CB-Series robots Go to Setup Robot. Tap URCaps Setup. In the Active URCaps box, tap the URCap to unin- stall. Tap the minus (-) button to uninstall the URCap. Restart PolyScope to complete the uninstallation process.

  • Page 55: License Agreement

    1.4 hereof including their modifications and upgrades and their related materials; 3. “ Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced man- ufacturing and sale of robotic products (the “...
  • Page 56 a link to proceed to such installation will be made available thereof. A new version of the Software shall not be covered by this Section 4 but shall require that a new End-User Software License Agreement be entered into between the Licensor and the End- User.
  • Page 57 8. The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soi- ent rédigés en anglais seulement. Palletizing Solution - Instruction Manual...

  • Page 58: Operation

    8. Configure the Safeguard I/O and Safeguard reset. 4.2. Lights States Light States Legend Blink fast: 2 Hz (0.25s ON, 0.25s OFF) Blink slow: 0.5 Hz (1s ON, 1s OFF) Palletizing Solution - Instruction Manual...
  • Page 59 Light Light Condition Action needed (Troubleshooting for e-Series) Dependency Robot has started and needs time to boot up (poly- scope is not loaded yet) Verify that your USB-Ethernet adapter is properly con- nected: LED on the ethernet adapter should be lighted Linear axis controller (PLC) is unable to communicate with the Verify that your Ethernet cable betwen the PLC and...
  • Page 60 The linear axis is activated and Right brake is released; White A program is running without Pal- letizer node. When: Left and/or Solid A program with Palletizer node is Right running but the pallet present is Green not completed. Palletizing Solution - Instruction Manual...

  • Page 61: Software

    Tap Installation tab > URCaps > Copilot. On the Dashboard tab the Copilot License activation will appear. Caution The License Dongle should not be disconnected at any time, otherwise, all your program can be lost. Palletizing Solution - Instruction Manual...
  • Page 62 In the Linear Axis tab, click on Scan and make sure your linear axis is ready. 5.1 .1 . Palletizer node Before you start programing your features, make sure that your Robotiq Palletizing Solution is set this way: On the Teach Pendant, tap the Program button.
  • Page 63 Info You will have to configure four (4) parameters to program your Palletizing Solution. To begin, click on BOX to set your box dimensions. In the Box dimensions parameter, you have to set the box’s: Width (A) Depth (B) Height (C)
  • Page 64 By clicking on the Set Grip position button, you will have access to determine the coordinates in X, Y and Z of your robot, in which the grip position will be: Position the robot tool flange connector on side A (same side as the robot wrist), as shown in the picture above. Make sure to align the TCP with the center of the box.
  • Page 65 For the Pallet dimensions parameter you will have to: Select the desired pallet: Right or left Both pallets Determine the dimensions of the: Front Side Height The PALLET and BOX parameters are now completed. Click on PATTERN to continue the configuration. Palletizing Solution - Instruction Manual...
  • Page 66 The PATTERN parameter allows you to set the number and sequence of your layer's boxes. You can create and use a maximum of two patterns: the Pattern A and the Pattern B. Make sure to select the desired ones. Click on Edit to configure your pattern. Enter the number of layers needed.
  • Page 67 Use the arrows to move and position the boxes on the pallet, as desired. Three of your parameters are now set. Complete your configuration by clicking on the SETTINGSbutton. For this configuration, set the tool speeds and accelerations, with the box or without the box. Palletizing Solution - Instruction Manual...
  • Page 68 Info The term ''Tool'' refer to the Gripper. The checkbox " Validate pallet state at program startup" is checked by default. . If you unselect it, then the system will consider that the pallets are empty. If you start a program where the checkbox is filled by default, you can have either one the these pop-up information, depending of your pallet number.
  • Page 69 All your Palletizer parameters have been configured. You are now ready to start your Solution. Palletizing Solution - Instruction Manual...

  • Page 70: Vacuum Gripper Behavior

    5.1 .2. Linear Axis Move node The Linear axis move node can be used to move the linear axis to a specific position. It can be used inside or outside the Palletizer node. 5.2. Vacuum Gripper behavior Workpiece gripping /releasing is performed by changing the values of the gripper input registers. While the control is very simple, some behaviors deserve a better explanation.

  • Page 71: Specifications

    Caution This manual uses the metric system, unless specified, all dimensions are in millimeters. The following subsections provide data on the various specifications for the Robotiq Palletizing Solution. 6.1 . Technical dimensions 6.1 .1 . Linear Axis Base with Controller...
  • Page 72 6.1 .2. AirPick Vacuum Gripper Fig. 6-1: AirPick general dimensions...
  • Page 73 6.1 .3. Extra Reach Bracket Palletizing Solution - Instruction Manual...
  • Page 74 6.1 .4. Bracket for two (2) Suction Cups Fig. 6-2: Two air nodes bracket's dimensions...
  • Page 75 6.1 .5. Bracket for 4 Suctions Cups Fig. 6-3: Four air nodes bracket's dimensions Palletizing Solution - Instruction Manual...

  • Page 76: Mechanical Specifications

    Maximal acceleration in operating condition Maximum box throughput Up to 13 boxes/min * Maximum number of box patterns Energy source Electricity *Depends on box weight, dimensions, surface, pallet dimensions and layouts. Fig. 6-4: Mechanical Specifications of the Robotiq Palletizing Solution...
  • Page 77 AirPick Gripper noise level 70.5 dBa Maximum Vacuum level at optimal pressure 85 % Blow off flow at 0.65 MPa feed pressure 130 SLPM Maximum acceleration in operating condition Contaminants and purity classes ISO 8573-1 class 3.4.3 Palletizing Solution - Instruction Manual...
  • Page 78 6.2.3. Center of mass, tool center point (TCP) Center of mass (mm) TCP (mm) Products Mass (g) AirPick (without suction cup) 0.55 -9.89 21.72 44.7 AirPick (with 1 suction cup) 0.50 -9.30 24.60 76.7 AirPick (with 2 suction cups) 0.30 -5.40 42.20 127.7...

  • Page 79: Electrical Specifications

    The following Palletizing Control Box diagram shows roughly how the connections are made. For more information, download the electrical package on the Robotiq support website . Do not modify wiring unless you can re-certify the control box with local authorities.
  • Page 81 For all information about AirPick Vacuum Gripper specifications, please consult its instruction manual available on our support website. 6.3.3. Universal Robots Controller Please, refer to the Installation section for more details about all connections in the UR controller. Palletizing Solution - Instruction Manual...

  • Page 82: Maintenance

    Always turn off the Palletizing Solution and depressurize the air supply tube before performing any maintenance operation on it. For more details about the depressurization, please refer to Depressurizing the Supply Line section. Caution The Palletizing Solution is not waterproof or water resistant without additional protection. Only clean the equipment with a dry towel. Caution Maintenance operator must be grounded to prevent electrostatic discharge that could damage electronic equipments.

  • Page 83: Linear Axis

    7.1 . Linear Axis Caution For every maintenance operation, please verify the axial backlash in the ball screw. If it is greater than 0.2 mm, the linear axis must be replaced. 7.1 .1 . Components lubrication Info If needed, clean the components before the lubrication. Info Recommended lubricant : LUB-KC1.

  • Page 84: Fasteners

    The Vacuum Gripper only requires external maintenance with limited downtime. Maintenance is required after specified usage, measured in cycles (workpiece pick-up and release) or use time (hours). Warning Unless specified, any repairs done on the Vacuum Gripper will be done by Robotiq. Palletizing Solution - Instruction Manual...
  • Page 85 Info For more details about the AirPick Vacuum Gripper maintenance, please consult its instruction manual available at robotiq.com/support. 7.5. Solution Cleaning Clean the mechanical parts (including the guide rail of the linear axis) with a soft cloth as required. Cleaning agents include all non- abrasive media.
  • Page 86 The following list is up to date at print time and is subject to change, check online for updates. Item Description Ordering Number Robotiq Palletizing Solution 1.5 M with AirPick Vacuum Gripper 1 x 7th axis base including: 1 x Mechanically welded assembly 1 x Vertical axis 1500mm 1 x Motor...
  • Page 87 9. Troubleshooting 9.1 . Palletizing Solution (except the AirPick Gripper) Problem Potential Solution Make sure to enter a box height that is high enough to compensate box variability. You may have to enter a box height that is slightly big- Robot entered in protective stop after few layers.
  • Page 88 Verify in the Move tab that the joints are in the center of the limits. For the wrist #3, the algorithm will adjust the wrist at the start of the Discontinuous path detected, please change your starting palletization. point. Violation: A joint exceeded the torque window Robot joint limits may be too restricted.
  • Page 89 Red flashes at slow rate. i. Check the DB-9 connector. ii. Check the cable. iii. Check the communication parameters from the Robotiq User Interface, see recovery procedure. iv. Contact support. Red and green flashing at high speed. i. Check fault status, maximum operating temperature could be exceeded.
  • Page 90 2. Driver is installed but Gripper cannot be controlled : a. If Gripper LED is not blue, follow the steps in the first section above b. If Gripper LED is blue, driver is installed with the latest available version, contact support@robotiq.com 9.2.2. Vacuum Gripper verification...
  • Page 91 During the warranty period, Robotiq will repair or replace any defective component of the Palletizing Solution, as well as verify and adjust the component free of charge if the equipment should need to be repaired or if the original adjustment is erroneous. If the component is sent back for verification during the warranty period and found to meet all published specifications and work as intended, Robotiq will charge standard verification fees.
  • Page 92 Robotiq shall not be liable for damages resulting from the use of the Palletizing Solution, nor shall Robotiq be responsible for any failure in the performance of other items to which the Palletizing Solution is connected or the operation of any system of which the Palletizing Solution may be a part.
  • Page 93 Generic standards – Immunity standard for industrial environments IEC 61000-6-4 2018 Generic standards – Emission standard for industrial environments EN 50581 2012 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances Palletizing Solution - Instruction Manual...
  • Page 94 1 2. Appendix 1 2.1 . Anchoring pattern Fig. 12-1: Palletizing Work Zones Schema Palletizing Solution - Instruction Manual...
  • Page 95 1 2.2. Safety Connections Fig. 12-2: Universal Robots Controller Safety Connections Schema...
  • Page 96 SI0 for status. Pink UR Safeguard input 2 UR does not support a safeguard status in configurable outputs. Connect this pin to the regular safeguard input SI1 for status. Table 12-1: Safety Wires Description Palletizing Solution - Instruction Manual...
  • Page 97 1 3. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside USand Canada Technical support and engineering option 3 Sales option 2 Head office Robotiq: 966, chemin Olivier Suite 500 St-Nicolas, Québec G7A 2N1 Canada Palletizing Solution - Instruction Manual...

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