ROBOTIQ PALLETIZING SOLUTION AX Series Instruction Manual
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ROBOTIQ PALLETIZING SOLUTION AX Series Instruction Manual

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ROBOTIQ PALLETIZING
SOLUTION
AX Series
Original Notice
© 2022 Robotiq Inc.
Robotiq Palletizing Solution - AX Series
for Universal Robots
robotiq.com | leanrobotics.org
Instruction Manual

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Summary of Contents for ROBOTIQ PALLETIZING SOLUTION AX Series

  • Page 1 ROBOTIQ PALLETIZING SOLUTION AX Series Original Notice © 2022 Robotiq Inc. Robotiq Palletizing Solution - AX Series for Universal Robots robotiq.com | leanrobotics.org Instruction Manual...

  • Page 2: Table Of Contents

    Table of Contents Revisions 1. General Presentation 1.1. Palletizing Solution Components 1.2. Object Picking 1.3. Palletizing Operation Diagrams 2. Safety 2.1. Disclaimer 2.2. Intended Use 2.3. Warnings, Risk Assessment and Final Application 3. Installation 3.1. Scope of Delivery 3.2. Required Tools and Equipment 3.3.
  • Page 3 6.3. Electrical Specifications 7. Maintenance 7.1. Linear Axis 7.2. Fasteners 7.3. AirPick Vacuum Gripper 7.4. Cleaning 7.5. 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.
  • Page 4 Palletizing Solution - 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 2021/07/14 Update of the Specifications section (Center of mass, tool center point table) Update of the Appendix section (Safety Connections) Update of the Software section Update of the Troubleshoot section Update of the Warranty section Update of the Installation section with new cable management instructions Update of Spare Parts, Kits and Accessories section 2021/03/29 Update of the Software section: label orientation option added.
  • Page 7 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 8: General Presentation

    The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" and "AX Series" used in this manual all refer to the AX Series Robotiq Palletizing Solution. The AX Robotiq Palletizing Solution is a hardware and software solution already connected and ready to install. It is composed of a base fully integrated with a linear axis, pallet sensors, and status lights. An extra reach gripper bracket is also included in the Solution to extend the reach of an end-of-arm tool of 200 mm from the robot's tool flange.
  • Page 9 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. The Solution is designed to facilitate the positioning of pallets. The base has to be anchored to the floor.
  • Page 10 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 11 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 12: Object Picking

    1.2. Object Picking The AirPick 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.

  • Page 13: 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 14 Palletizing Solution - Instruction Manual...

  • Page 15: 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 16: 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 17: Warnings, Risk Assessment And Final Application

    2.3. Warnings, Risk Assessment and Final Application Warning The operator must have read and understood all of the instructions in the following manual before operating the Robotiq Palletizing Solution. Caution Any use of the Palletizing Solution in non-compliance with these warnings is deemed inappropriate and may cause injury or damage.
  • Page 18 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 19 Emergency stop mode when the emergency stop button is pressed. All components of the system will undergo stop category 1 transitioning to stop category 0. Robot Linear Axis Operation mode Speed Speed Force (N) Power (W) Force (N) Power (W) (mm/s) (mm/s) Normal mode...
  • Page 20 Special attention must be given to the carriage assembly, the linear axis, the cable management system, and the gripper components. Please contact Robotiq Support if any sign of damage is detected. 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.
  • Page 21 Palletizing Solution - Instruction Manual...

  • Page 22: 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 23: 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 24: Required Tools And Equipment

    Torque wrench with 10 mm (3/8 in) drive or adapter, minimum torque range of 20 - 50 Nm (14.8 - 36.9 ft-lb) Additionally, if you decide to install the type of anchors provided by Robotiq, you will need the following:...

  • Page 25: 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 26: 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 317 kg (697 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 27 1. Remove the top panel and the four (4) sides of the crate by unscrewing the screws that hold them into place. 2. Cut all the strapping material that retains the components, and take all cardboard boxes out of the crate. 3.
  • Page 28 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. Palletizing Solution - Instruction Manual...
  • Page 29 8. Lift and place the column onto the base. Info A hook is present at the top of the column. Use it to lift the column. 9. Secure the column on the base using the four (4) M10 screws provided. Tighten to a torque of 50 Nm. Caution Make sure to have all components in hand before discarding the crate and packaging.
  • Page 30 3.4.3. Moving and Positioning the Solution Warning Failure to properly secure and install the equipment can result in material damage and bodily injury. In addition, note that the warranty will not cover material damage resulting from an installation that did not comply with the instructions found in this manual.
  • Page 31 Info A UR10 or UR10e cobot is 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 32 1. Place the robot on the robot base plate so its power cable is oriented towards the linear axis. Align properly with the two dowel pins (already installed on the robot base), and secure the robot using four (4) M8 screws and Belleville washers. The required torque value is 20 Nm.
  • Page 33 Base Cover Plate 1. Remove the cover plate that will allow the cable management.
  • Page 34 Universal Robots Controller Installation 1. Remove the four screws on the top of the linear axis controller. 2. Place the UR controller on top of the linear axis controller and secure it with the four screws you previously removed. Caution Do NOT plug the UR controller power cable into UR controller .
  • Page 35 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.
  • Page 36 4. Plug the UR controller power cable into the linear axis controller. Pass the cable through the hole #2. Then, continue to chan- nel 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 37 Pallet Sensors and Base Cables Routing 1. Connect the pallet sensors. The cables are identified for each side. Make sure to connect each pair of cables correctly. 2. Bring out the air tube and the box sensor cable from the bottom of the column and continue to channel it until you bring it out from the other extremity of the base (through the rectangle hole).
  • Page 38 3. Position the robot so that the wrist is on the outside left side of the base like shown in the figure below. 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°.
  • Page 39 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 40 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 41 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 42 2. If you use the extra reach bracket, make sure to first run the coupling cable through the second hole of the bracket. 3. Connect the coupling cable to the connector visible at the end of the cable carrier. 4. Install Igus R-Lock clips at the end of the cable carrier before clipping it in the bracket. It will ensure the good functioning of the cable management system.
  • Page 43 Caution Use dry and filtered air only. Follow the ISO 8573-1, class 3.4.3 standard. We recommend using a local pressure regulator with a filter and air dryer. 9. Use the spiral cable sleeve to keep the air tube and the coupling cable together. 10.
  • Page 44 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 45 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 46 Box Sensor 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 47 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 48 Add virtual planes around pallet(s) option available in the Settings tab of the Palletizer node of the Robotiq URCap to contain the overrun within a certain distance of the pallet. Please refer to Palletizer Node section to learn more about this option.

  • Page 49: 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 50 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 51: 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 52 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 53 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 54 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 55 3.7.2. Uninstalling URCap Package On e-Series Universal Robots On the teach pendant, tap the triple bar icon. Tap Settings. 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.
  • Page 56 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. Palletizing Solution - Instruction Manual...

  • Page 57: Robot Configurations

    3.8. Robot Configurations Info Some configurations must be done in the Safety section of the Installation tab, to ensure the proper use of the solution. 3.8.1. Robot Limits To ensure the effective operation of the Solution, Robot Limits should stay at the Least Restrictive setting. Tool speed (1) and tool force (2) can be adjusted as required.
  • Page 58 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°. 3.8.3.
  • Page 59 For CB-Series Universal Robots: 1. Tap Installation→ Safety → Safety I/O 2. Then, unlock the section with the proper password and set the Output Signal config_out[0], config_out[1] at System Emer- gency Stopped.

  • Page 60: 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 “Licensor’s Business”);...
  • Page 61 Website http://robotiq.com/ where 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 62 12. Expiration and Termination. The Licensor may terminate this Agreement for default by the End-User. This Agreement will also be automatically terminated upon the election of such by the Licensor or the official launch of the Software, whichever event comes first. Upon termination of this Agreement for any reason, the End-User shall promptly uninstall the Software on any UR’s Productsand Licensor’s Products, computer, or server on which it has been installed, deliver to the Licensor all CDs, DVDs, magnetic tapes, cards, and other tangible items and materials embodying the Software, and return to the Licensor all copies thereof or destroy such copies and warrant in writing that all copies thereof have been destroyed.

  • Page 63: Operation

    4. Operation 4.1. Starting Up After the mechanical and electrical installation, follow these steps: 1. Make sure you have installed the URCaps. Please refer to the Installing URCap Package section 2. Configure the TCP. Use the proper values depending on if you use the extra reach bracket or not. 3.

  • Page 64: Light States

    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) Color and signal Condition status Cause or action needed (troubleshooting for e-Series) type The robot has been started and needs time to boot up (Polyscope has not loaded yet) Make sure your Ethernet/USB adapter is properly connected: the LED on the Ethernet adapter should be ON.
  • Page 65 The pallet is not detected and the system is idle. The linear axis is activated and brake is released; WHITE The Robotiq Controller (PLC) is connected to the robot controller Solid A program is running without a Palletizer node. GREEN A program with a Palletizer node is running but the pallet present is not completed.

  • Page 66: Software

    5. Software 5.1. Installation on e-Series Universal Robots Caution To ensure normal operation, make sure the Copilot license dongle remains connected at all times. 1. Connect the license dongle to the USB hub in the UR controller. Make sure your Copilot license is activated: a.
  • Page 67 Warning Activating the Limit height for Palletizer program node option does not limit the linear axis range outside of the Palletizer node. Therefore, caution must be observed when operating the linear axis with the ActiveDrive toolbar or the Linear Axis move node.
  • Page 68 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 69 To begin, click on BOX to set your box dimensions. In the Box attributes parameter, you have to set the box’s: Width (A) Depth (B) Height (C) Payload 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.
  • Page 70 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 71 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.
  • Page 72 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. Configure the pattern you chose (A, B or both): i.
  • Page 73 Enter the number of layers needed. Your current layer sequence is represented. Click on Edit Layer Sequence to modify it.
  • Page 74 Three (3) of your parameters are now set. Click now on the SETTINGS button and complete your configuration as indicated below. Info The term Tool refers to the Gripper. 1. Set tool speed and acceleration, with or without the box. 2.
  • Page 75 The window will display the side of the pallet and its Fig. 5-1: Using pallets on both side requires confirming the other pallet state. 5. By default, the 90° and 180° checkboxes (Allow gripper to pick the box at different angles) are ticked. This allows the grip- per to perform rotations of 90°...
  • Page 76 7. If required, select the Add virtual planes around pallet(s) option. When ticked, this feature adds virtual planes when the tra- jectories are computed, in order to prevent the boxes and the robot from extending too far beyond the edges of the pallet dur- ing approach.
  • Page 77 All your Palletizer parameters have been configured. You are now ready to start your Solution. 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 Pal- letizer node.

  • Page 78: 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. Palletizing Solution - Instruction Manual...
  • Page 79 5.2.1. Get Linear Axis Position Description This function can be used anywhere in the program and returns the linear axis position measured from the lowest point of the axis. Declaration rq_get_linear_axis_pos( ) Return value This function returns a float which expresses the linear axis position in meters. 5.2.2.
  • Page 80 5.2.4. Number of Processed Boxes Description This function must be used inside the palletizer node in order to work properly (see example) and returns the number of processed boxes. Declaration rq_get_nb_processed_boxes( ) Return value This function returns an integer which expresses the number of processed boxes. Example of use 5.2.5.
  • Page 81 0 = Waiting, Idle : Solution is waiting for a new pallet or a user confirmation that the pallet is ready. 1 = Ready : Pallet is ready to begin the palletizing or depalletizing process. 2 = In progress : Palletizing/depalletizing is in progress on the pallet. 3 = Completed : Pallet is full (palletizing) or empty (depalletizing).

  • Page 82: Vacuum Gripper Behavior

    5.3. 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. The Vacuum Gripper can work in two different mode: the Automatic and Advanced modes.

  • Page 83: Specifications

    6. 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 Palletizing Solution - Instruction Manual...
  • Page 84 6.1.2. AirPick Vacuum Gripper Fig. 6-1: AirPick general dimensions...
  • Page 85 6.1.3. Extra Reach Bracket Palletizing Solution - Instruction Manual...
  • Page 86 6.1.4. Bracket for Two (2) Suction Cups Fig. 6-2: Two air nodes bracket's dimensions...
  • Page 87 6.1.5. Bracket for Four (4) Suctions Cups Fig. 6-3: Four air nodes bracket's dimensions Palletizing Solution - Instruction Manual...

  • Page 88: Mechanical Specifications

    The maximum pallet dimensions depend on your box dimensions. See section below for more details. 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 89 The maximum pallet and the minimum box dimensions are interdependent. The figure below shows box compatibility for different pallet dimensions when using the extra reach bracket (TCP offset in X direction of 200 mm). Each color line in the graphic represents pallet dimensions. To figure out if your box dimensions will fit with the pallet dimensions, note that all combinations on the right of each line are available possibilities.
  • Page 90 Dimensions (mm) Region Examples of box dimensions (mm) (Width x Depth) North America 1016 x 1219 50 x 50 x 50 Australia 1165 x 1165 210 x 210 x 140 Asia 1100 x 1100 150 x 150 x 85 Europe, Asia 1000 x 1200 50 x 50 x 50 North America, Europe, Asia...
  • Page 91 AirPick Vacuum Gripper Specifications Metric Units Imperial Units 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 1Data is presented as follows : for serial number ≤ V-01351 / for serial number ≥ V-01352. 6.2.3.

  • Page 92: Electrical Specifications

    6.4A at 240Vac Fig. 6-4: Linear Axis 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 linear axis controller is CE marked and cCSAus certified. Any modification will void the certification.
  • Page 93 Info The complete electrical diagram is available on our the Robotiq support website. Palletizing Solution - Instruction Manual...
  • Page 94 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 Please, refer to the Installation section for more details about all connections in the UR controller.

  • Page 95: 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 96: 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 97: Fasteners

    7.2. Fasteners Periodically ensure that the bolts are tightened all over the Solution. If necessary, tight again according to the specified torques represented in the table below. Tightening Torque Designation Location (Nm) [ft-lb] Column-Axis interface 10.5 Linear axis carriage interface Pallet sensors 15.0 11.1...

  • Page 98: Airpick Vacuum Gripper

    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 99: Cleaning

    7.4. Cleaning 7.4.1. Air Filter Cleaning Periodically clean the control panel air filters. 7.4.2. 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. Caution Do not use compressed air to clean the Vacuum Gripper.

  • Page 100: Spare Parts, Kits And Accessories

    Cable Management Kit for UR10 1 x Cable Management Kit for UR10 robots PAL-CBL-MNG-KIT 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 101: Troubleshooting

    9. Troubleshooting 9.1. Palletizing Solution (except the AirPick Gripper) Symptom / Issue Cause Solution Increase the box height value to compensate for box size discrepancies. A collision occurred between the gripped box The robot was brought to a protective stop A good practice to determine box and a box on the palllet.
  • Page 102 The robot may have reached a singularity or be closed to reaching a singularity. 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.
  • Page 103 Collisions occur with the pallet sensor Execute the centering procedure The column is not centered on the base. on one side, but not on the other found in the Installation section. Confirm that the TCP has been The TCP entered is incorrect. configured correctly The TCP entered is incorrect since it does Configure the TCP correctly.
  • Page 104 Power off and power on the Linear Axis Power off and power on the Linear Controller. Axis Controller. The cables of the Linear Axis are not Inspect the connections. Please refer properly connected to the UR controller. to the Safety Connections section. Verify that the "Safeguard reset"...

  • Page 105: Airpick Vacuum Gripper

    We employ registers that cannot be used with Ethernet/IP or Profinet at the same Update to the latest version of the Error message: time when the following function Copilot software. "RTDE interface cannot initialize. Make checkbox is ticked: sure that Ethernet/IP adapter and Untick the "Use Copilot to manage a Installation >...
  • Page 106 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 107 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 108: Warranty

    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 109 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 110: Harmonized Standards

    11.1. Applied Standards This section describes all applied harmonized standards for the design and production of the Robotiq Palletizing Solution and the AirPick Vacuum Gripper. For more information on the standards used for each individual product, please refer to their respective declaration of conformity.

  • Page 111: Ec Declaration Of Incorporation

    11.2. EC Declaration of Incorporation 11.2.1. Robotiq Palletizing Solution Info For all information about the EC Declaration of Incorporation for the Robotiq Palletizing Solution, please refer to the Robotiq support website. The declarations are available for download (Robotiq Palletizing Solution > Universal Robots >...

  • Page 112: Appendix

    12. Appendix 12.1. Anchoring Pattern Fig. 12-1: Palletizing Work Zones Schema for UR10 Palletizing Solution - Instruction Manual...

  • Page 113: Safety Connections

    12.2. Safety Connections Fig. 12-2: Universal Robots Controller Safety Connections Schema...
  • Page 114 Wire # Color Function Description When using a safeguard reset button, connect wire #1 to the same configurable input as the button. To enable an automatic safeguard reset of the Solution using an area scanner: White Safeguard Reset Connect wire #1 to an available 24 V terminal in the UR controller. The system will auto-start when no safeguard signal is triggered.

  • Page 115: Contact

    13. Contact www.robotiq.com 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 - Instruction Manual...

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