ROBOTIQ Palletizing Solution Quick Start Manual page 6

Cable Routing (image at bottom of page)
Use dry and filtered air only. Follow the ISO
8573-1, class 7.4.4 standard. The optimal
pressure for compressed air consumption is 5.5 bar
(80 psi).
1. To correctly position the cables, change the robot
position. Refer to the table below:
Joint
Base
Shoulder
Elbow
Wrist 1
Wrist 2
Wrist 3
2. Install the first sleeve:
a. Wrap a sleeve around the arm of the robot in a manner that,
when facing the teach pendant, the sleeve is closed in a
clockwise rotation.
b. Tighten the sleeve and close the first Hook and Loop fastener.
c. Push the sleeve until it touches the next joint of the robot and
then rotate the sleeve so the first Hook and Loop fastener
is facing up. This will ensure the good positioning of the
cables.
3. Install the second sleeve:
a. Wrap the other sleeve around the forearm of the robot
in a manner that, when facing the teach pendant, the
sleeve is closed in a clockwise rotation.
b. Tighten the sleeve and close the first Hook and Loop
fastener.
c. Push the sleeve until it touches the next joint of the
robot and then rotate the sleeve so the second Hook
and Loop fastener is facing up. This will ensure the
good positioning of the cables.
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), apply the two
pieces of double sided tape side by side. Repeat for the
other end. This will prevent the cables from moving inside
the sleeve.
b. Repeat for the second sleeve.
Position
-180
-155
-60°
-80°
90°
-90°
5. Locate the 10 mm air tube section with the white
labels: it will be connected to the Gripper.
a. Connect the 10 mm air tube to the Gripper.
b. In the first sleeve, remove the remaining protective
layers from the double sided tape and place the air
tube so the white label #1 is at the edge of the sleeve
(gripper side).
c. Place the air tube along the sleeve and position it on
the second double sided tape portion. Then close the
sleeve.
d. In the second sleeve, remove the remaining protective
layers from the double sided tape and place the air
tube so the white label #2 is at the edge of the sleeve
(gripper side).
e. Place the air tube along the sleeve and position it on
the second double sided tape portion. Then close the
sleeve.
f. Pass the air tube into the cable carrier. The robot power
cable and the air tube should not use the same section.
Also, the white label #3 should be at the beginning of
the cable carrier.
g. Cut the pneumatic tube to the right length
(approximately 380 mm between the end of the cable
carrier and the PowerPick Controller) and connect it to
the PowerPick Controller (P- port).
6. Remove the safety clip from the PowerPick Controller (P+
port) and connect one extremity of the 8 mm air tube.
Reinstall the safety clip.
7. Install an Igus R-Lock at each extremity of the cable carrier.
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). Then close both brackets.
8. Connect the 8 mm air tube to the provided filter kit (or the
equivalent).
9. Connect the filter kit to your local air supply device (air
tube not provided).
10. Shut down the robot and power off the Linear axis
Controller.
You have to shutdown the robot BEFORE starting
the inter-controller and safety signal connections.