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ROBOTIQ AX Series Instruction Manual

Palletizing solution
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ROBOTIQ PALLETIZING
SOLUTION
AX Series
Original Notice
© 2023 Robotiq Inc.
Robotiq Palletizing Solution - AX Series
for Universal Robots
robot iq.com | leanrobot ics.org
Instruction Manual

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  • Page 1 ROBOTIQ PALLETIZING SOLUTION AX Series Original Notice © 2023 Robotiq Inc. Robotiq Palletizing Solution - AX Series for Universal Robots robot iq.com | leanrobot ics.org Instruction Manual...

  • Page 2: Table Of Contents

    Table of Contents Revisions 1. General Presentation 1.1. Palletizing Solution Components 1.2. 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. PowerPick Vacuum Gripper 7.4. Cleaning 7.5. Solution Storage 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Palletizing Solution (except the PowerPick Gripper) 9.2. PowerPick 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 2022/01/04 Added script functions Updated Installation on Universal Robots e-Series section The palletizer model is now named AX Series 2021/10/07 Updated Center of mass, tool center point (TCP) table 2021/09/22 Updated Safety Connections Appendix Pink wire is now orange Updated Safety section to add information regarding Reduced mode...
  • Page 7 2020/11/30 Update of the Installation section. 2020/11/25 Initial release Palletizing Solution - Instruction Manual...
  • Page 8 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 9: General Presentation

    1 .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.
  • Page 10 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 11: Palletizing Operation Diagrams

    1 .1 .7.Box Detection Sensor The Solution includes a box sensor that needs to be installed at the end of the conveyor in a way that it is triggered when a box is ready to be picked up. Fig. 1-3: Box Sensor 1 .2.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.

  • 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

    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 16 The vacuum level will continue and the object will not be lost. (Any 24V pin) The PowerPick 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 17 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 18 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 AxisStop 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 19 Palletizing Solution - Instruction Manual...

  • Page 20: Installation

    Caution 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;...

  • Page 21: Scope Of Delivery

    3.1 .Scope of Delivery 1 x AX Series Palletizing Solution base including: 1 x Linear axis (1500 mm stroke) 1 x Motor 1 x Linear axis Controller 4 x Pallet sensors 2 x Status lights 1 x Cable management system 6 x 1/2"...

  • Page 22: Required Toolsand 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) Isopropyl alcohol Additionally, if you decide to install the anchors provided by Robotiq, you will need the following: Hammer drill...

  • Page 23: 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. 3.3.1 .Air Supply Compressed air must be supplied to the vacuum gripper according to the technical specifications. For maintenance and other purposes, it is recommended to install a lockout valve before connecting to the product.

  • Page 24: 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 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. Palletizing Solution - Instruction Manual...
  • Page 27 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 28 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 29 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 30 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 31 Base Cover Plate 1. Remove the cover plate that will allow the cable management.
  • Page 32 Universal RobotsController 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. Palletizing Solution - Instruction Manual...
  • Page 33 Power CablesConnections 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 34 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 35 Pallet Sensorsand Base CablesRouting 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 36 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 position like the following: RX=0°, RY= 180°, RZ=0°.
  • Page 37 However, you must use the configuration corresponding to your needs. For other configurations installation, please refer to the PowerPick vacuum gripper manual, available at support.robotiq.com Info To know which configuration best fits your needs, consult the Robotiq Configurator.
  • Page 38 PowerPick Controller With Isopropyl alcohol, clean the area where the PowerPick controller will be placed. Remove the protective layers from the double-sided tape. Place the PowerPick Controller on the linear axis column above the robot controller, with pneumatic fittings pointing downward. Leave enough space (recommendation of 250 mm (10 in)) between the PowerPick Controller and the robot controller to ensure that the tubing and electrical cable have enough space to connect.
  • Page 39 4. Install eight pieces of double sided tape: a. Take two pieces of double sided tape and remove one protective layer from each of them. Inside the first sleeve, in one end of the second Hook and Loop closure (see the 100 mm marks on the image below), apply the two pieces of double sided tape side by side.
  • Page 40 7. Install an Igus R-Lock at each extremity of the cable carrier. Info Refer to the Igus triflex® R Series TRE.40B cable routing system installation instructions for more details. 8. Use cable ties to attach the air tube to the strain relief part of the mounting brackets. Make sure not to crush the air tube with the cable ties.
  • Page 41 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...
  • Page 42 PowerPick Gripper and Copilot Connections 1. Connect the Copilot license dongle to the USB hub in the robot controller. It must be connected at all times. 2. Connect the M12 connector of the I/O cable to the PowerPick Controller. 3. Run the cable to the robot controller. Follow the good practices of the cable management.
  • Page 43 Box Sensor(s) 1. Run the box sensor(s) cable through a hole under the robot controller. Connect the wires in configurable I/O terminal blocks of the robot controller. Then secure each connection with a terminal block screwdriver (not provided). Brown wire in a 24V terminal block Blue wire in a 0V terminal block Black wire in a DI terminal block (digital input).
  • Page 44 4:1 safety factor: 5600 N [1280 lbf] Caution 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 45 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 Software section to learn more about this option.

  • Page 46: 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.
  • Page 47 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 48: 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 49 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 URCap , download the Copilot URCap and extract it on the root of a blank USB stick.
  • Page 50 Once the files are selected, tap the Open but- ton. Tap the Restart button to complete the URCap installation. By doing so, you accept the license agreement detailed in the URCap information textbox. Palletizing Solution - Instruction Manual...
  • Page 51 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 URCap → download the Copilot URCap and extract it on the root of a blank USB stick.
  • Page 52 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. Palletizing Solution - Instruction Manual...
  • Page 53 3.7.2.Uninstalling URCap Package On e-SeriesUniversal 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 54 On CB-SeriesUniversal 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 55: 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 56 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 3°. The minimum and maximum values for the Wrist 3 will be -273° and 273°. 3.8.3.Configurable Outputs Some configurable outputs must be set.
  • Page 57 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 58: 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 59 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 60 ures and furnish him with information, screenshots and try to reproduce such bugs, defects or failures upon Licensor’s demand. 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.

  • Page 61: Operation

    4.Operation 4.1 .Starting Up After the mechanical and electrical installation, follow these steps: 1. Make sure you have installed the URCap. Please refer to the Installing URCap Package section 2. Configure the TCP. Use the proper values depending on the gripper configuration. See Center of Mass, Tool Center Point (TCP) section for more details.

  • Page 62: 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 Condition status Cause or action needed (troubleshooting for e-Series) signal 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 63 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 64: Software

    In the Configuration tab, under Palletizing Solution, select Linear Axis b. Robotiq recommends to keep the Copilot activated at all time. However, when another URCap or a Polyscope option (for example, ProfiNET or Ethernet/IP) needs to control the speed slider, you can deactivate the Use Copilot to manage a soft speed transition when resuming from a Safeguard stop option.
  • Page 65 Caution 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. Fig.

  • Page 66: Multipick Feature

    The boxes must have the same payload. 5.3.Program 5.3.1 .ParametersConfiguration 1. Before you start programing, make sure that your Robotiq Palletizing Solution is set this way: Fig. 5-4: Configuration of Palletizing environment 2. On the Teach Pendant, tap Program > URCaps.
  • Page 67 Fig. 5-5: Four parameters to set SETTINGS- First Part Tap SETTINGS. Info Here the term Tool refers to the Gripper. Fig. 5-6: SETTINGS parameter - top screen a. Set Tool speed and Tool acceleration, With box and Without box. b. Palletizer mode: tick Depalletizing if you want to depalletize (Palletizing is ticked by default). c.
  • Page 68 BOX Parameter 1. Tap BOX. Fig. 5-7: Select the BOX parameter 2. Only with the multipick feature (if you do not use the feature, go to next step): a. You must have at least two Box Types. Tap Add Box Type to create additional Box Types. The number of Box Types to create depends on the number of boxes to pick together: If you want to pick up to two boxes at once, you need two Box Types: one for a single box and a second for two boxes side by side.
  • Page 69 3. Set the Box attributes: dimensions A, B and C and Payload. With the multipick feature, you must do the following steps: Tap Edit below each box type to configure it. Remember that each multiple box type is a multiple of one single box, therefore: One dimension will double for a double box type, will triple for a triple box type, etc.
  • Page 70 5. Box position: Tap Set Grip Position (palletizing mode) or Set Drop Position (depalletizing mode) to determine the X, Y and Z coordinates of your robot when gripping or dropping a box (on a conveyor, for example): a. Position the robot tool flange connector on side A, as shown in the image below. Robot joints should be positioned as close as possible to the center of their motion range.
  • Page 71 SETTINGS- Second Part Fig. 5-12: Select SETTINGS again Fig. 5-13: SETTINGS parameter - middle screen Fig. 5-14: SETTINGS parameter - middle screen (with multipick feature) e. For box type (with multipick feature only): select a box type. Follow steps f to i for each box type. f.
  • Page 72 h. To configure a collision avoidance with a conveyor: i. Tick Define conveyor to avoid collisions, then tap Configure. ii. Select your configuration (Perpendicular, Parallel or Custom). iii. If the conveyor configuration is Parallel, select the Direction (From left or From right). iv.
  • Page 73 Fig. 5-18: Custom conveyor i. Allow gripper to pick the box at different angles: This allows the Gripper to rotate 90° or 180° around the Z-axis for trajectory optimization and more flexibility. It can be unticked if it is impossible for the Gripper to pick the box at 90° or 180° from the originally taught grip position.
  • Page 74 Fig. 5-20: Pallet state - LEFT - Depalletizing Fig. 5-21: Pallet state - RIGHT - Palletizing k. Add virtual planes around pallet(s) is unticked by default. Tick it to add virtual planes in order to prevent the boxes and the robot from extending too far beyond the edges of the pallet during approach.
  • Page 75 PALLETParameter 1. Tap PALLET. Fig. 5-22: Select the PALLET parameter 2. Pallet dimensions: set the Front, Side and Height dimensions. 3. Pallet selection: Select Pallet LEFT or Pallet RIGHT. To use both pallets, tick both. Fig. 5-23: PALLET parameter The PALLET parameter is now completed. Go back to the Palletizer node by tapping the house icon at the bottom right.
  • Page 76 PATTERN Parameter 1. Tap PATTERN. Fig. 5-24: Select the PATTERN parameter 2. Pattern configuration allows to customize the pattern for picking (depalletizing mode) or dropping (palletizing mode) the boxes. You can create and use a maximum of two patterns: Pattern A and Pattern B. Tap Edit to configure a pattern. Fig.
  • Page 77 Fig. 5-26: Pattern editing Fig. 5-27: Pattern editing with multipick feature 7. The Pattern configuration also allows to customize the layer sequence. Enter the Number of layers. Fig. 5-28: Layers editing 8. If you created multiple patterns, tap Edit Layer Sequence to modify the Layer Sequence.
  • Page 78 Fig. 5-29: Layer Sequence All your Palletizer parameters are now configured. 5.3.2.Program Tree with Multipick Feature Fig. 5-30: Final program tree Palletizing Solution - Instruction Manual...
  • Page 79 Multipick Request When picking for example two boxes at a time using the multipick feature, it is required to validate that two boxes are available and well positioned. This can be done using two box sensors for which the signals are combined in one signal. Then this signal is sent to the robot which can pick two boxes.
  • Page 80 4. Tap the f(x) button beside the scrolling menu you just opened. 5. In the window appearing, using the Input scrolling menu and the keyboard, enter the expression shown below (without any space). See the Wiring the Multipick Feature section for the digital inputs to enter. digital_in[x] and digital_in[xx] digital_in[x] corresponds to the digital input linked to your first box sensor.
  • Page 81 Gripper(s) Activation The following steps explain how to activate the right Gripper(s) for each box type. Info Grippers are linked to digital outputs. In the example presented in this section, there are two grippers: one linked to digital_out[1] and the second to digital_out[2]. The association between the box types and the grippers to activate can vary depending of your configuration.
  • Page 82 Fig. 5-36: Function scrolling menu in the If node 4. In the program tree, tap <empty> in the If node. Then go to Program > Basic and select Set. To be sure how are connected your grippers, you can make tests by activating the various digital outputs. Go to I/O > Internal and check the boxes in the Digital Output section.
  • Page 83 6. Go back to the If node and tap Add Else at the bottom. Fig. 5-38: Add Else in the If node 7. In the program tree, tap <empty> in the Else node. Then go to Program > Basic and select Set. Select it twice. 8.
  • Page 84 10. In one Set node, tick Set Digital Output, open the scrolling menu and select a digital output linked to one of your gripper. Select Low in the next scrolling menu. Then repeat for the other Set node, but select the output linked to your other gripper. This releases the vacuum in both grippers, even if only one was activated.

  • Page 85: Wiring The Multipick Feature

    Each box type has its own input signal that can be interpreted as a " product ready to be palletized" signal. When multiple boxes are palletized together, combining box sensor signals is required. Robotiq provides only one box sensor with the standard product. Additional sensors can be bought using the part number PAL-BOX-SENS-KIT 1.

  • Page 86: Palletizing Script Functions

    5.5.Palletizing Script Functions Palletizing functions are made available in the Script drop-down menu. Fig. 5-43: Script node Tap the Script Code textbox (f(x)), then on the drop-down Function menu gives access to the script functions list. Fig. 5-44: Function menu in Script node 5.5.1 .Get Linear AxisPosition Description This function returns the linear axis position measured from the lowest point of the axis.
  • Page 87 5.5.2.Disable Linear Axis Description The linear axis decelerates to a complete stop but remains powered (the brake is not applied). The communication between the robot controller and the linear axis controller remains active. Declaration rq_linear_axis_disable( ) Return value The rq_linear_axis_disable( ) or rq_linear_axis_disable(True) function returns True when it succeeds. If the function fails, it returns an error message and the program stops.
  • Page 88 5.5.5.Set Pallet Completed Description This function allows to partially fill the pallets. The palletizer will process the current box and go directly to the Add after pallet folder. The Add between layer folder will not be executed. Use this function inside a Grip or Release folder. Declaration rq_set_pallet_completed( ) Return value...
  • Page 89 5.5.7.Set Palletizer State Description This function configures the state of a Palletizer node. It must be used outside the palletizer node in order to work properly. Declaration rq_set_palletizer_state(palletizer_index, processed_boxes, next_step, other_pallet_state=''INACTIVE'', current_ pallet=''CURRENT'') Parameters palletizer_index: Palletizer nodes for which the state will be numerically ordered, beginning from 0 (the first node number will be 0, the second node number will be 1 and so on).
  • Page 90 5.5.8.Get Current Box Type Description This function returns the box type being processed when multiple box types are enabled. It must be used inside the palletizer node in order to work properly. Declaration rq_get_current_box_type() Return value This function returns a string which is the name of the box type currently being processed. The string is case-sensitive Palletizing Solution - Instruction Manual...

  • Page 91: 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 AxisBase with Controller 6.1 .2.PowerPick Vacuum Gripper For PowerPick Gripper technical dimensions, please refer to its own manual, available at support.robotiq.com...

  • Page 92: 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 93 The maximum pallet dimensions and the minimum box dimensions are interdependent. The figure below shows box compatibility for different pallet dimensions when using a TCP offset of 300 mm in the X direction. Each color line in the graphic represents pallet dimensions. To figure out if your box dimensions will fit with the pallet dimen- sions, note that all combinations on the right of each line are available possibilities.
  • Page 94 6.2.2.PowerPick Vacuum Gripper PowerPick Vacuum Gripper Specifications Metric Units Imperial Units Energy source Electricity and compressed air 1030 g 2.27 lb Gripper mass Minimum feed pressure 3 bar 45 PSI Optimal feed pressure for low noise (< 80 dBa) 4 bar 60 PSI Optimal feed pressure for compressed air 5.5 bar...
  • Page 95 6.2.3.Center of Mass, Tool Center Point (TCP) Center of mass (mm) TCP (mm) Suction Wrist Configuration Offset Tube Cups Mass Extension Bracket 0 mm Small 1066 100 mm Small 100 mm Large 1289 200 mm Small 1020 200 mm Small 1244 Palletizing Solution - Instruction Manual...

  • Page 96: Electrical Specifications

    The following diagram illustrates the basic connections of the linear axis Controller. For more information, download the electrical package on the Robotiq support website. Do not modify the wiring unless you can recertify the linear axis Controller with local authorities.
  • Page 97 Info The complete electrical diagram is available on our the Robotiq support website. Palletizing Solution - Instruction Manual...
  • Page 98 6.3.2.PowerPick Vacuum Gripper Info For all information about PowerPick Vacuum Gripper specifications, please consult its instruction manual available on the Robotiq support website. 6.3.3.Universal RobotsController Please, refer to the Installation section for more details about all connections in the UR controller.

  • Page 99: 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 100: 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 .Componentslubrication Info If needed, clean the components before the lubrication. Info Recommended lubricant : LUB-KC1.

  • Page 101: 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) [lb-ft] Strengthening brackets of the PowerPick Gripper Column-Axis interface 10.5 Linear axis carriage interface Pallet sensors...

  • Page 102: Powerpick 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 103: Spare Parts, Kitsand Accessories

    4 x Suction Cups - Piab 75 mm (1.5 Bellows) VAC-CUP-PIAB-75MM-KIT-4 78 mm Suction Cups 4 x Suction Cups - Coval 78 mm (1.5 Bellows) VAC-CUP-COVAL-78MM-KIT-4 1 x Status Light for the Robotiq Palletizing Status Light for Palletizing Solution PAL-STAT-LIGHT Solution Type A Pallet Sensor Kit for the Robotiq...
  • Page 104 Ordering Item Description Number Box Sensor Kit for the Robotiq Palletizing Solution 1 x Box Sensor Box Sensor Kit - Palletizing Solution PAL-BOX-SENS-KIT 1 x Cable 1 x Mounting Brackets...

  • Page 105: Troubleshooting

    9.Troubleshooting 9.1 .Palletizing Solution (except the PowerPick Gripper) Symptom / Issue Cause Solution Increase the box height value to compensate for box size discrepancies. A collision occurred between the gripped The robot was brought to a protective stop box and a box on the palllet. A minor A good practice to determine box after a few layers palletizing error carried over from previous...
  • Page 106 The box height value entered is too high. Verify the box height value. The pallet height value entered is too The robot triggered a protective stop Verify the pallet height value. high. when placing a box on the first layer Confirm that the TCP has been set The TCP entered is incorrect.
  • Page 107 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 sensor Execute the centering procedure The column is not centered on the base.
  • Page 108 Multiple causes are possible. Start by Power off and power on the Linear power off and power on the Linear Axis Axis Controller. 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.

  • Page 109: Powerpick Vacuum Gripper

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

  • Page 110: 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 111 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 112: Harmonized Standards

    1 1 .1 .Applied Standards This section describes all applied harmonized standards for the design and production of the Robotiq Palletizing Solution and the PowerPick Vacuum Gripper. For more information on the standards used for each individual product, please refer to their respective declaration of conformity.

  • Page 113: Ec Declaration Of Incorporation

    1 1 .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 114: Appendix

    1 2.Appendix 1 2.1 .Anchoring Pattern Fig. 12-1: Palletizing Work Zones Schema for UR10 Palletizing Solution - Instruction Manual...

  • Page 115: Safety Connections

    1 2.2.Safety Connections Fig. 12-2: Universal Robots Controller Safety Connections Schema...
  • Page 116 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 117: Contact

    1 3.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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