ROBOTIQ PE Series Original Notice
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ROBOTIQ PE Series Original Notice

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ROBOTIQ PALLETIZING
SOLUTION
PE Series
Original Notice
© 2022 Robotiq Inc.
Robotiq Palletizing Solution - PESeries
for Universal Robots
robot iq.com | leanrobot ics.org
Instruction Manual

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Summary of Contents for ROBOTIQ PE Series

  • Page 1 ROBOTIQ PALLETIZING SOLUTION PE Series Original Notice © 2022 Robotiq Inc. Robotiq Palletizing Solution - PESeries for Universal Robots robot iq.com | leanrobot ics.org Instruction Manual...

  • Page 2: Table Of Contents

    5.1. Installation on e-Series Universal Robots 5.2. Palletizing Script Functions 5.3. Vacuum Gripper Behavior 5.4. AirPick Vacuum Control over Universal Robots with URCaps 6. Specifications 6.1. Technical Dimensions 6.2. Mechanical Specifications 6.3. Electrical Specifications 7. Maintenance Palletizing Solution - PE Series - Instruction Manual...
  • Page 3 7.1. Fasteners 7.2. AirPick Vacuum Gripper 7.3. Cleaning 7.4. 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 Palletizing Solution - PE Series - Instruction Manual...

  • Page 5: 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 6 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.

  • Page 7: General Presentation

    1 . General Presentation The terms " Palletizer" , " Palletizing Solution" , " Robotiq Palletizing Solution" , " Solution" and " PE Series" used in this manual all refer to the PE Series Robotiq Palletizing Solution. The PE Robotiq Palletizing Solution is a hardware and software solution already connected and ready to install.
  • Page 8 1 .1 .2. Robotiq Controller All the components of the Solution are integrated and controlled via the Robotiq Controller. It allows for the motion of the robot during a palletizing action, and the control of the pallet sensors and status lights.
  • Page 9 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. 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 the AirPick.
  • Page 10 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 11: 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 - PE Series - Instruction Manual...

  • Page 12: 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, as well as responses such as signals, pallet and box sensor behaviors, etc. Please refer to the Status Lights section for further information about light states.
  • Page 13 Palletizing Solution - PE Series - Instruction Manual...

  • Page 14: 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 15: 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 16: Warnings, Risk Assessment And Final Application

    Risk of load dropping resulting from loss of vacuum; Risk of pinching any moving component of the Robotiq Palletizing Solution or the robot; Risk of damage or breaking if using a custom suction cup bracket that does not meet the technical requirements;...
  • Page 17 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 Gripper that comes with the Robotiq Palletizing Solution is connected via the robot controller. Warning Loss of vacuum can occur due to power failure or air supply interruption.
  • Page 18 Special attention must be given to the pedestal, the cable management system, and the gripper components. Please contact Robotiq Support if any sign of damage is detected. Palletizing Solution - PE Series - Instruction Manual...

  • Page 19: Installation

    3. Installation The following subsections will guide you through the installation and general setup of your Robotiq Palletizing Solution. Info Before installing: Read and understand the safety instructions related to the Palletizing Solution. Verify your package according to the scope of delivery and your order.

  • 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 Tools And Equipment

    Torque wrench with 10 mm (3/8 in) drive or adapter, minimum torque range of 15 - 50 Nm (11.0 - 36.9 ft-lb) Additionally, if you decide to install the type of anchors provided by Robotiq, you will need the following:...

  • 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. Since the crate weighs 212 kg (465 lb), Robotiq recommends using a pallet truck or forklift truck to move it. The operation of such machinery should be done by qualified and authorized personnel.
  • Page 24 6. Remove the supporting wooden pieces by unscrewing the screws that hold them into place. 7. Unscrew the four (4) bolts that retain the base into the crate. 8. Take the base out of the crate. 9. Position the pedestal on the base. Caution Be careful not to pinch the cables.
  • Page 25 Do not use the Solution while it stands on its casters. To make the Solution stand upright, simply screw the four (4) corner bolts, remove the casters and unscrew the corner bolts. Palletizing Solution - PE Series - Instruction Manual...
  • Page 26 Robot Installation Info A UR10 or UR10e cobot is required for the installation. The cobot is not included in the Robotiq Palletizing solution. For e-Series Universal Robots 1. Run the cable through the inner pedestal section and pull the cable out at the bottom of the pedestal.
  • Page 27 2. Place the robot on the robot base plate so that the back of the robot (the side on which is the notch to let the power cable through the robot base) is oriented towards the front of the Solution (towards the Robotiq Controller). Align properly with the two dowel pins (already installed on the robot base), and secure the robot using four (4) M8 x 25 mm screws and Belleville washers.
  • Page 28 4. Reposition the robot base plate and secure it with its four (4) screws. 5. Place the robot on the plate so that the back of the robot is oriented towards the Robotiq Controller. Align properly with the two dowel pins (already installed on the robot base), and secure the robot using four (4) M8 x 22 mm screws and Belleville washers.
  • Page 29 5. Screw the four (4) screws on the left side with a 15 Nm torque, then the two (2) screws on the right side, with a 15 Nm torque. Palletizing Solution - PE Series - Instruction Manual...
  • Page 30 Cable Routing 1. Remove the cover plates. Set the back cover plate aside, but still on the base. This will facilitate cable management. 2. Run the cable of the Robotiq coupling through one of the holes in the back cover.
  • Page 31 5. Pull the Robotiq Controller’s power supply cable and Ethernet cable through one of the holes in the front base cover plate. 6. If required, connect the Teach Pendant’s cable to the corresponding socket on the robot controller. Run the cable through the hole at the front of the Solution’s base, if needed.
  • Page 32 8. Use the power cable provided with the UR robot to power the Robotiq Controller. Pull the cable through the hole at the very back of the base. 9. Run the push button enclosure’s cable (ending with an M12 connector) through the hole at the front of the base, and pull it out through one of the holes in the front base cover.
  • Page 33 Do not unscrew completely. Unscrew only half a turn to be able to change the orientation of the column. Completely untightening the screws can cause the column to fall and cause bodily injuries and material damages. 5. Rotate the column counterclockwise as much as possible. Palletizing Solution - PE Series - Instruction Manual...
  • Page 34 6. Position the robot so that the wrist is on the outside left side of the base like shown in the figure below. 7. Move the robot so the robot tool flange is parallel to the ground: change the feature reference to Base and modify the tool position like the following: RX=0°, RY= 180°, RZ=0°.
  • Page 35 10. Tighten the four (4) screws to secure the column onto the base. Torque must be 50 Nm. 11. On the teach pendant, validate that the X value is still 333.35 mm. 12. Put the robot back in position of use. Palletizing Solution - PE Series - Instruction Manual...
  • Page 36 AirPick Vacuum Gripper Installation To be able to mount the AirPick Gripper, its accessories, as well as the cable routing system, power on the robot and rotate the joints, as described in the table below. Then, shutdown the robot Joint Position Base -180°...
  • Page 37 3. Insert each suction cup, with an O-ring, into an air node. Tighten cups by hands. Warning Any unused manifold port should be covered with a provided port plug to avoid air leakage. Palletizing Solution - PE Series - Instruction Manual...
  • Page 38 To finish the installation, change the robot position. Refer to the table below: Joint Position Base -180° Shoulder -155° Elbow -60° Wrist 1 -80° Wrist 2 90° Wrist 3 -90° 1. Attach the Igus triflex® R Series (TRE.40B) cable routing system to the robot, as illustrated in the figure below: Using a 5 mm hex key, secure the elbow collar assembly (larger collar) to the arm.
  • Page 39 8. Connect the 8 mm air tube to the vacuum generator. Follow the steps below: Step #1 Step #2 Step #3 Insert the air tube in the AirPick port Insert the safety clip Ensure the safety clip is properly installed Palletizing Solution - PE Series - Instruction Manual...
  • Page 40 Follow the good practices of the cable management. You can use the plate under the controller and use a grommet (not included). 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 to the terminal blocks of the robot controller.
  • Page 41 Push Button Enclosure Connection 1. Connect the push button enclosure’s cable to the M12 connector under the Robotiq Controller. 2. Optionally, and depending on your application, the stranded wires of the cable corresponding to the " Restart" and " Pause"...
  • Page 42 Box Sensor Connection and Installation 1. Run the box sensor’s cable through a hole under the robot controller. Connect the brown (24V), blue (0V) and black (digital input) wires to corresponding connectors in terminal blocks. Info Follow the good practices of the cable management. You can use the plate under the controller and use a grommet (not included).
  • Page 43 4:1 safety factor: 5600 N [1280 lbf] 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;...
  • Page 44 2. Install the pedestal cover using the provided screws (4). 3. Connect the power cable to the power outlet. 4. Power on the Robotiq Controller and the robot. The box sensor must be set properly. Once the system is running, adjust the detection distance with the sensitivity adjuster.

  • Page 45: Other Grippers

    3.4.5. Conveyor The Robotiq Palletizing Solution does not come equipped with a conveyor. However, the palletizing cell, as construed in this instruction manual, includes a conveyor. It is thus important to enforce standard EN 619 (or the equivalent in your region). The conveyor should be positioned as close as possible to the Solution (maximum 100 mm) to prevent anyone from standing between the conveyor and the Solution.
  • Page 46 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 47: 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. Info For CB-Series robots, the controller must have been produced after september 2019 (serial number > 2019301732) to be able to be installed on the Solution.
  • Page 48 Make sure that your PolyScope version is up- to-date and that your Universal Robots con- troller is compatible with the Palletizing solu- tion URCap package. Go to support.robotiq.com, and select the Universal Robots brand. Select Palletizing Solution. Click on Software → Palletizing Solution URCaps, download the zip of URCaps and extract them on the root of a blank USB stick.
  • Page 49 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 50 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 51 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 - PE Series - Instruction Manual...
  • Page 52 On CB-Series Universal 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 53: Robot Configurations

    2. Then, unlock the section with the proper password and change the values. The minimum and maximum values for the Elbow will be -167° and 0°. The minimum and maximum values for the Wrist 3 will be -270° and 270°. Palletizing Solution - PE Series - Instruction Manual...
  • Page 54 For CB-Series: 1. Tap Installation→ Safety → Joint Limits → Position range 2. Then, unlock the section with the proper password and change the values. The minimum and maximum values for the Elbow will be -167° and 0°. The minimum and maximum values for the Wrist 3 will be -270° and 270°.
  • Page 55 2. Unlock the section with the proper password and set the Input Signal config_in[0], config_in[1] to Safeguard Reset. For CB-Series Universal Robots: 1. Tap Installation → Safety → Safety I/O 2. Unlock the section with the proper password and set the Input Signal config_in[0], config_in[1] to Safeguard Reset. Palletizing Solution - PE Series - Instruction Manual...
  • Page 56 3.8.3. Force and Speed Robot Limits Caution The following elements apply to a cell that palletizes cardboard boxes (or packages made of a similar material) which contain material that is not harmful to humans. All cells being different, it is important to perform a risk assessment and to enforce the required standards.

  • Page 57: 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 58 Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Web- site http://robotiq.com/ where a link to proceed to such installation will be made available thereof. A new version of the Soft- ware 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 59 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 soient rédigés en anglais seulement. Palletizing Solution - PE Series - Instruction Manual...

  • Page 60: Operation

    6. Test the Vacuum Gripper: Tap Installation → URCaps → Vacuum → Scan. Then, test the grip and release functions of the Vacuum in the Gripper Toolbar. 4.2. Light 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 - PE Series - Instruction Manual...
  • Page 61 Controller and robot controller is properly connected (to the USB adapter) . Try powering off the system (both the robot and the Robotiq Controller). Wait 1 minute. Power up the system again. Follow the procedures required by the system to recover A Protective or Emergency stop has occurred.

  • Page 62: Software

    Select the Palletizer model used i. In the Configuration tab, under Palletizing Solution, select Pedestal ii. Select the pedestal height. Use the Robotiq Configurator to simulate your palletizing cell and obtain the exact height. b. If required, deactivate the Use Copilot to manage a soft speed transition when resuming from a Safeguard stop option.
  • Page 63 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. Select URCaps in the navigation pane on the left. Tap the Palletizer button.
  • Page 64 If you have labels that need to be oriented on your pallets, check the Set label orientation box. You can choose the side on which the label will appear on your box, by clicking on the button. Palletizing Solution - PE Series - Instruction Manual...
  • Page 65 By clicking on the Set Grip Position (palletizing mode) or the Set Drop Position (depalletizing mode) button, you will have access to determine the coordinates in X, Y and Z of your robot, in which the grip or drop position (on a conveyor, for instance) will be: Position the robot tool flange connector on side A (same side as the robot wrist), as shown in the picture above.
  • Page 66 The BOX parameter is now completed. Click on PALLET to continue the configuration. 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 Palletizing Solution - PE Series - Instruction Manual...
  • Page 67 The PALLET and BOX parameters are now completed. Click on PATTERN to continue the configuration. 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.
  • Page 68 Enter the number of layers needed. Palletizing Solution - PE Series - Instruction Manual...
  • Page 69 Your current layer sequence is represented. Click on Edit Layer Sequence to modify it. Three (3) of your parameters are now set. Complete your configuration by clicking on the SETTINGS button. For this configuration, set tool speeds and accelerations, with the box or without the box. Info The term Tool refer to the Gripper.
  • Page 70 It can be unchecked if it is not possible for the gripper to pick the box at 90 degrees compared to the taught grip position. All your Palletizer parameters have been configured. You are now ready to start your Solution. Palletizing Solution - PE Series - Instruction Manual...

  • Page 71: Palletizing Script Functions

    5.2. Palletizing Script Functions Palletizing functions are made available in the Script drop-down menu. Tapping on the Script Code textbox (f(x)), then on the drop-down Function menu gives access to the script functions list.

  • Page 72: Vacuum Gripper Behavior

    For more details, please refer to the AirPick Vacuum Gripper instructions manual. 5.4. AirPick Vacuum Control over Universal Robots with URCaps Info Please refer to the AirPick Vacuum Gripper instructions manual to have all the information about the URCap. Palletizing Solution - PE Series - Instruction Manual...

  • Page 73: 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 . Base with Pedestal, Robotiq Controller and Post...
  • Page 74 6.1 .2. AirPick Vacuum Gripper Fig. 6-1: AirPick general dimensions...
  • Page 75 6.1 .3. Extra Reach Bracket Palletizing Solution - PE Series - Instruction Manual...
  • Page 76 6.1 .4. Bracket for Two (2) Suction Cups Fig. 6-2: Two air nodes bracket's dimensions...
  • Page 77 6.1 .5. Bracket for Four (4) Suctions Cups Fig. 6-3: Four air nodes bracket's dimensions Palletizing Solution - PE Series - Instruction Manual...

  • Page 78: Mechanical Specifications

    The maximum pallet dimensions depend on your box dimensions. Use the Robotiq Configurator to validate the combination. The maximum box throughput depends on box weight, box dimensions, box surface, pallet dimensions, and pallet layout. Table 6-1: Mechanical Specifications of the Robotiq Palletizing Solution...
  • Page 79 130 SLPM Maximum acceleration in operating condition Contaminants and purity classes ISO 8573-1 class 3.4.3 1Data is presented as follows : for serial number ≤ V-01351 / for serial number ≥ V-01352. Palletizing Solution - PE Series - Instruction Manual...
  • Page 80 6.2.3. Center of Mass, Tool Center Point (TCP) Center of mass (mm) TCP (mm) Products Mass (g) AirPick (without suction cup) -0.5 -9.0 21.0 44.7 AirPick (with 1 suction cup) -0.5 -8.5 23.4 76.7 AirPick (with 2 suction cups) -0.3 -5.1 40.3 127.7...

  • Page 81: Electrical Specifications

    1.1 A (240V AC) Fig. 6-4: Robotiq Controller electrical specifications Info These are the specifications of the Robotiq Controller, excluding the robot. The overall voltage consumption will vary depending on the robot used. Warning The Robotiq controller is CE marked and cCSAus certified. Any modification will void the certification.
  • Page 82 Info The complete electrical diagram is available on our the Robotiq support website. 6.3.2. AirPick Vacuum Gripper Info For all information about AirPick Vacuum Gripper specifications, please consult its instruction manual available on the Robotiq support website. 6.3.3. Universal Robots Controller...

  • Page 83: Maintenance

    Correct functioning of the equipment; Validity of the warranty; Proper lifetime of the equipment. Caution Maintenance operations are for the average normal usage of the Robotiq Palletizing Solution, the maintenance intervals must be adjusted according to the environmental conditions such as: Operating temperature Humidity Presence of chemical(s) Presence of physical objects (debris, scraps, dust, grease, etc.)
  • Page 84 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. 1 M cycles or Operation...
  • Page 85 For more information about the AirPick Gripper filter cleaning, please refer to the maintenance section of its instruction manual. 7.4. Solution Storage Ensure short storage times. Choose cool, dry, wellshaded, corrosion-resistant locations. Palletizing Solution - PE Series - Instruction Manual...
  • Page 86 4 x Vacuum Cups 1.5 Bellows 55 mm (white sil- Vacuum Cups 1.5 Bellows 55 mm (Silicone) VAC-CUP-55-SI icone) 1 x Status Light for the Robotiq Palletizing Solu- Status Light for Palletizing Solution PAL-STAT-LIGHT tion Type A Pallet Sensor Kit for the Robotiq Palletizing...
  • Page 87 The pallet height value entered is too high. Verify the pallet height value. stop when placing a box on the first layer Confirm that the TCP has been set The TCP entered is incorrect. correctly. Palletizing Solution - PE Series - Instruction Manual...
  • Page 88 Move the robot to the Home position and restart the program. Should none of the above steps solve the issue, please contact the Robotiq support department. Collisions occur with the pallet Execute the centering procedure sensor on one side, but not on the The pedestal is not centered on the base.
  • Page 89 URCaps use the RTDE Configuration > General: " Use Copilot to from a Safeguard stop" checkbox. interface." manage a soft speed transition when resuming from a Safeguard stop" Palletizing Solution - PE Series - Instruction Manual...
  • Page 90 Contact support. 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.
  • Page 91 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 Palletizing Solution - PE Series - Instruction Manual...
  • Page 92 9.2.2. Vacuum Gripper Verification If you are not able to attain the desired vacuum level or if a diminution of the vacuum level occurs, verify: The suction cups status That the air path is clean and not obstructed (including the manifold) If a filter cleaning is necessary...
  • Page 93 Robotiq warrants the Robotiq Palletizing Solution and all its components against defects in material and workmanship for a period of one year from the date of reception when utilized as intended. Robotiq also warrants that this equipment will meet applicable specifications under normal use.
  • Page 94 Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring any obligation to make any changes whatsoever on units already purchased.
  • Page 95 IEC 61000-6-4 2018 Generic standards – Emission standard for industrial environments Technical documentation for the assessment of electrical and electronic products with respect EN 50581 2012 to the restriction of hazardous substances Palletizing Solution - PE Series - Instruction Manual...
  • Page 96 1 2. Appendix 1 2.1 . Anchoring Pattern Fig. 12-1: Palletizing Work Zones Schema for UR10 Palletizing Solution - PE Series - Instruction Manual...
  • Page 97 Contact Us Phone 1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside US and 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 - PE Series - Instruction Manual...

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