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ROBOTIQ PE20 Original Instructions Manual

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ROBOTIQ PALLETIZING
SOLUTION
PE20
Original instructions (en)
© 2023 Robotiq Inc.
Robotiq Palletizing Solution - PESeries
for Universal Robots
robot iq.com | leanrobot ics.org
User Manual

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  • Page 1 ROBOTIQ PALLETIZING SOLUTION PE20 Original instructions (en) © 2023 Robotiq Inc. Robotiq Palletizing Solution - PESeries for Universal Robots robot iq.com | leanrobot ics.org User Manual...

  • Page 2: Table Of Contents

    Table of Contents Revisions 1. General Presentation 1.1. Palletizing Solution Components 2. Safety 2.1. Disclaimer 2.2. Risk Assessment 2.3. Use of the Solution 3. Installation 3.1. Scope of Delivery 3.2. Required Tools and Equipment 3.3. Environmental and Operating Conditions 3.4. Mounting and Installation 3.5.
  • Page 3 6.3. Electrical Specifications 7. Periodic Inspection and Maintenance 7.1. Power Off and Lock Off Procedure 7.2. Inspection 7.3. Fasteners Specifications 7.4. Cleaning 7.5. Storage 8. Spare Parts, Kits and Accessories 9. Troubleshooting 9.1. Palletizing Solution (excluding the PowerPick20 Vacuum Gripper) 9.2.

  • Page 4: Revisions

    Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modifications are made, the manual will also be revised. See revision information below. The latest version of this manual can be downloaded at support.robotiq.com.
  • Page 5 Robotiq. Under copyright law, copying includes translation into another language or format. Information provided by Robotiq in this document is believed to be accurate and reliable. However, Robotiq shall accept no responsibility for its use. There may be some differences between the manual and the product if the product has been modified after the editing date.

  • Page 6: General Presentation

    1 .General Presentation The terms " Palletizer" , " Palletizing Solution" , " Robotiq Palletizing Solution" , " Solution" , PE20 and " PE Series" used in this manual all refer to the PE Series Robotiq Palletizing Solution for UR20 Universal Robots. The PE Robotiq Palletizing Solution is a hardware and software solution preconnected and ready to install.
  • Page 7 1 .1 .2.Robotiq Control Box All the components of the Solution are integrated and controlled via the Robotiq control box. It allows for the motion of the robot during a palletizing process, and the control of the pallet sensors and status lights.

  • Page 8: Safety

    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. The user (installer and operator) shall observe safe and lawful practices including but not limited to those set forth in this document.

  • Page 9: Risk Assessment

    The user must have read and understood all of the instructions in the following manual before operating the Robotiq Palletizing Solution. Any use of the Palletizing Solution in non-compliance with these instructions is deemed inappropriate and may cause injury or damage.
  • Page 10 2.2.2.Emergency Stop WARNING There is no emergency stop button directly on the Robotiq Palletizer. The emergency stop button used by the Palletizing Solution is the one found on the robot’s teach pendant. Make sure operators know how to stop the Solution in case of emergency.
  • Page 11 2.2.5.Residual Risk For the intended use of the robot system, measures have been taken to prevent personal injury and property damage. Nevertheless, residual risk remains in certain situations. Maintenance and Repair WARNING During maintenance and repair work, make sure that the Palletizing Solution is turned off, de- energized and cannot be accidentally turned on again.
  • Page 12 Risk of Accident WARNING During maintenance, there is an increased risk of accident due to the parts, tools and equipment used in and around the Palletizing Solution area. Slip, trip and fall hazards can be avoided by maintaining order and cleanliness in the workplace. For work in elevated positions (500 mm and more), fall protection equipment must be installed and used.
  • Page 13 Electromagnetic Compatibility (EMC) Unauthorized changes to electrical components can lead to increased sensitivity to interference, and increased interference emission. As a result, safety components may be impaired. Work on electrical equipment must only be carried out by qualified and authorized personnel. Be aware of the possible residual energy after turning off an electrical device with large capacitive components Electrical Energy Work on electrical equipment must only be carried out by qualified and authorized personnel.
  • Page 14 Robot Risks WARNING All personnel working with and around the robot must be informed of the inherent risks and safety instructions. To avoid being pinched or crushed when the robot moves toward a stationary object, always keep a minimum distance of 500 mm. To avoid being pinched or crushed when the robot moves toward the floor, always keep a minimum distance of 300 mm.

  • Page 15: Use Of The Solution

    The emergency stop function is intended for use in emergency conditions and not for stops in normal conditions. The Robotiq Palletizing Solution is specifically designed for palletization. Only use the Solution in its original condition without making unauthorized modifications. Only use the Solution if it is in perfect technical condition.
  • Page 16 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 use of the Solution.
  • Page 17 2.3.3.Final Application Expected System Behavior in Normal Operating Conditions NOTICE Various types of external safety devices can interface with the Robotiq Palletizing Solution to ensure a safe operation. NOTICE Category 0 Stop: Stops the Solution by immediate removal of power.
  • Page 18 After a collision or an emergency stop, an inspection of the Solution must be performed before resuming the use of the machine. Special attention must be given to the pedestal, the cable management system, and the gripper components. Please contact support@ robotiq.com if any sign of damage is detected.
  • Page 19 Stopping Timesof the Safety System The stopping time related to the Solution’s safety system corresponds to the stopping time of the robot. Please refer to the UR20 user manual on the Universal Robots website to calculate the stopping time based on the application. If safety devices and safety relays are part of the palletizing cell, the stopping times of such devices must be accounted for (i.e., added to robot’s stopping time).

  • Page 20: Installation

    3.Installation This section will guide you through the installation and general setup of the Robotiq Palletizing Solution. Before installing: Read and understand the safety instructions related to the Palletizing Solution. Refer to the Safety section. Verify the package according to the scope of delivery and the order.

  • Page 21: Scope Of Delivery

    3.1 .Scope of Delivery 1 x PE20 Palletizing Solution base kit including: 1 x PE20 base 2 x Photoelectric pallet sensors 1 x Robotiq control box 1 x Support bracket for UR control box 1 x PE20 removable stopper for Palletizing Solution...
  • Page 22 1 x PowerPick20 vacuum generation unit 1 x Mounting bracket and filter-regulator assembly 1 x M12-12 pin I/O cable 1 x Powerpick20 Vacuum Gripper, default configuration 1 x Large suction cup bracket assembly Air tubing Tools and hardware for installation on PE20...

  • Page 23: Required Toolsand Equipment

    3.2.Required Toolsand Equipment The following tools are required to install the Palletizing solution. Included: 1 x 1/2 in x 6 in concrete drill bit 1 x 13 mm socket, 3/8 in square drive 1 x 16 mm socket, 3/8 in square drive 1 x 17 mm socket, 3/8 in square drive 1 x 3/4 in socket, 3/8 in square drive 1 x 8 mm hex bit socket, 3/8 in square drive...

  • Page 24: Environmental And Operating Conditions

    Speed values might be derated at temperatures above 35 °C (95 °F) depending on program takt time. 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.

  • Page 25: Mounting And Installation

    The Robotiq Palletizing Solution is shipped on a pallet. A wooden crate protects the hardware from external elements. The wooden crate containing the Robotiq Palletizing Solution weighs 230 kg (506 lb). A forklift truck or pallet truck is therefore necessary to move it. The operation of such machinery should be done by qualified and authorized personnel.
  • Page 26 A minimum of two people is recommended to perform the following steps. WARNING The transport, lifting, and moving of the Robotiq Palletizing Solution should be performed by qualified and authorized personnel. Failure to do so may result in material damage, bodily injury or death.
  • Page 27 b. Temporarily secure the cable by attaching it to the pedestal using a long zip tie. 6. Use a 17 mm wrench to remove the lag bolt securing the top plate of the pedestal. 7. Remove the pedestal from the crate. NOTICE It is recommended to use proper hoisting equipment to perform this operation.
  • Page 28 11. Use a 17 mm wrench to remove the four (4) lag bolts that hold the base of the Solution to the bottom of the crate. 12. Use a forklift to lift the base from the aisle side (i.e., the side where the Robotiq control box is located).
  • Page 29 3.4.3.Mechanical and Electrical Installation Pedestal Installation NOTICE Make sure the base of the Solution is sitting on shims before performing the following steps. 1. Screw the removable stopper to the base of the Solution using the four (4) M12 x 30 hex cap screws. Do not fully tighten the screws.
  • Page 30 4. Fully tighten the four (4) M12 x 30 hex cap screws to a torque of 84 Nm (62 lb-ft), making sure the tabs are in contact with the base, as shown in the figure below. 5. Run a sling through the openings on the flange of the pedestal, as shown in the figure below. 6.
  • Page 31 8. Secure the pedestal to the base using the four (4) M12 x 30 screws provided. Tighten to a torque of 84 Nm (62 lb-ft). Robot Installation NOTICE A minimum of two people is recommended to execute these steps. 1. Slide the bundled cable inside the pedestal (see Unboxing section). 2.
  • Page 32 5. Use the two (2) dowel pins to position the robot so that the hole that was previously plugged is oriented towards the “ L” and “ R” decals on the pedestal (aisle side). 6. Secure the robot base using the six (6) M10 x 30 screws and the six (6) serrated Belleville washers; tighten to the torque specified by UR (please refer to the UR20 user manual).
  • Page 33 4. Remove the plate from the base by opening and closing it while lifting. 5. Fasten the UR control box to the control box support plate using the four (4) screws that were previously removed. NOTICE Make sure that the cabinet door is on the side opposite to the retaining tabs. 6.
  • Page 34 Pedestal 1. Using a 10 mm wrench, remove the M6 nut and the top lock washer from the main ground stud inside the Robotiq control box bay. 2. Take the ground wire (green) out of the pedestal base.
  • Page 35 Operator Station 1. Route the third ground wire to the base of the operator station post. 2. Using a 10 mm wrench, remove the M6 nut and one (1) lock washer from the ground stud inside the base of the operator station post.
  • Page 36 3. Secure the cable to the cable gutter using cable ties. NOTICE The robot’s power cable and the power cable coming from the Robotiq control box should both be channeled through the cable gutter. All other cables should be laid directly on the bottom of the cable compartment.
  • Page 37 9. Connect the W200 Ethernet cable to the USB / Ethernet adapter. 10. Run the W103 cable from the Robotiq control box to the UR control box. 11. Wire the W103 cable in the UR control box based on the figure below.
  • Page 38 12. Run the box sensor cables through the opening located on the conveyor side of the Solution, and to the UR Control box. 13. Wire the cables based on the configuration of the palletizing cell (Single Box Type or Multiple Box Types / Multi-Pick Feature).
  • Page 39 NOTICE The optional safety kit requires the interfacing of a reset push button. If there is no optional safety kit in the scope of delivery, the hole left by the optional reset push button is filled with material. 21. Run the W72 and W82 cables from the operator station to the base. 22.
  • Page 40 If the operator station needs to be located further away from the solution, cable extensions kits are available as an option. Please contact support@ robotiq.com to add them to the scope of delivery. If the operator station needs to be attached to the base, fasten the post to the base on the aisle side with four (4) M8 x 20 mm screws, using a 13 mm wrench.
  • Page 41 Centering the Solution This procedure needs to be performed before installing the vacuum gripper. It will ensure the proper functioning of the Solution. The goal is to properly align the column with the base by placing the robot wrist at a specific position when the latter is in contact with the side of the base.
  • Page 42 6. Jog the robot so that the robot tool flange is parallel to the ground: change the feature reference to Base, select Rotation Vector from the Units dropdown menu, and set the tool orientation to the following values: RX=0°, RY= 180°, RZ=0°. 7.
  • Page 43 The robot wrist should be touching the painted surface approximately 25 mm (1 in) above the aluminum flat bar on the side of the Solution. 10. Tighten the four (4) screws to secure the pedestal to the base. Tightening torque must be 84 Nm (62 lb-ft). 11.
  • Page 44 Wrist 3 90° If the scope of delivery of the PE20 Palletizing Solution does not include the PowerPick20 Vacuum Gripper, use the following parts to mount another generic gripper on the PE20 Palletizing Solution. 1x 1/2 BSPP female threaded bulkhead fitting on the side of the pedestal, connected to another 1/2 BSPP female threaded bulkhead fitting at the base (conveyor side).
  • Page 45 For more instructions on how to install the PowerPick20 Vacuum Gripper, please refer to section Mechanical Installation of the PowerPick20 user manual available at support.robotiq.com. PowerPick20 Vacuum Generation Unit (optional) 1. Loosen the two (2) M8 x 20 hex head cap screws intended to hold the vacuum generation unit until their head is at a distance of approximately 4 mm (3/16 in) from the surface.
  • Page 46 Cable Management System Cable Management with Generic Gripper If the PowerPick20 Vacuum Gripper is not part of the scope of delivery along with the PE20, the following components are provided for the cable management of another generic gripper. 3x cable clips + 0.5 m hook and loop (VELCRO®) fastener...
  • Page 47 Cable management with PowerPick20 Vacuum Gripper (optional) When mounting a Robotiq PowerPick20 Vacuum Gripper on the PE20 Palletizing Solution, the following components are provided for the cable management system. 3x cable clips + 0.5 m hook and loop (VELCRO®) fastener 1x cable clip + 1 m hook and loop (VELCRO®) fastener...
  • Page 48 figure above. c. If applicable, rotate all cable clips so that the plastic mount is facing up; this will ensure the good positioning of the tubing. 1. Tubing Installation a. Remove the four (4) plugs at the ends of the tubing. b.
  • Page 49 5. Tubing Curler Installation a. Place the tubing curler on top of the tubing, as depicted in the figure above. b. Align the tubing curler’s notch with the cable tie attached to the cable clip (#1) (the longer section of the tuble curler should point towards the wrist of the robot).
  • Page 50 Box Sensor (Single Box Type) 1. Run the box sensor cable through a hole under the robot control box. 2. Connect the wires to the terminal blocks of the robot control box: Connect the brown wire to a 24 V terminal in a Digital Inputs block Connect the blue wire to a 0 V terminal in a Configurable Outputs block Connect the black wire to a digital input (DI) terminal (e.g.
  • Page 51 Box Sensor (Multiple Box Types- Multi-Pick Feature) NOTICE The example below presents a configuration with two box types and two box sensors. Should the user need to pick more than two boxes, add a sensor for each additional box type to be picked. The scope of delivery includes one (1) box sensor.
  • Page 52 CAUTION Connection Between Digital Input and Digital Output This wiring procedure is the hardware step of the multi-pick feature, and will not make the feature functional on its own unless it is properly programmed in the robot software. Please refer to the Palletizer Node With Multi-Pick Feature section to go through the software steps and enable the multi- pick feature.
  • Page 53 WARNING Tip Over Hazard The forks of the pallet truck or forklift truck must be at least 1,065 mm (42 in) in length. The weight capacity of the pallet truck or forklift truck must be at least 250 kg (550 lb). The Solution must be transported on a level, even and solid concrete surface using a pallet truck or forklift truck.
  • Page 54 4. Insert the forks of the pallet truck or forklift truck in the fork entry openings until they reach a stop. 5. Slightly raise the forks so that the Solution remains close to the ground for transport. 6. Slowly and carefully move the Solution to its final location.
  • Page 55 Anchoring the Solution The Robotiq Palletizing Solution must be anchored for it to be used. WARNING Tip Over Hazard The solution must be anchored at all corners. The anchors provided with the Solution are Wej-It Ankr-TITE® Wedge Anchors model ATG1233 (1/2 x...
  • Page 56 3. Clear the dust around and in the drilled holes. 4. Insert the wedge anchors in the holes and make sure that they penetrate at least 65 mm (2-1/2 in) into the concrete. CAUTION The base of the Solution must be placed as parallel as possible relative to the ground, in all directions, in particular the two zones where the pallets will be located.
  • Page 57 Please refer to Palletizer Node section to learn more about this option. For PE20, the boxes won't overrun over the pallet edges if the height of the pallet is greater than 12cm (4.75in). However, for...

  • Page 58: Other Grippers

    If the shape of the alternative gripper does not correspond with the shape of the following models, it might function as well, but Robotiq does not guarantee that there will be no collision.
  • Page 59 If a TCP offset is added in the X or Y directions, the software will act as if an extra reach bracket is being used. Bracket representation Height Width Length Direction 31.5 mm 75 mm Same length as TCP offset (X, Y) Same direction as TCP offset (X, Y)

  • Page 60: Urcap Package

    Before proceeding with the installation of the URCap package, make sure the Universal Robots control box is compatible with the URCap package. To download the latest version of the Copilot URCap required to run the Palletizing Solution, refer to the Robotiq support website robotiq.com/support under the sections Palletizing Solution, Universal Robots and Software.

  • Page 61: Robot Configurations

    3.7.Robot Configurations NOTICE To ensure the appropriate use of the Palletizing Solution, certain configurations found in the Safety section must be performed. 3.7.1 .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 62 3.7.3.Configurable Inputs Two of the buttons found on the push button enclosure can be configured to trigger Pause and Restart commands. The direct input (DI) terminals to which the Pause and Restart wires need to be connected are at the user’s choice. 1.

  • Page 63: Operation

    4.2.Palletizing Operation Instructions WARNING There is no emergency stop button directly on the Robotiq Palletizer. The emergency stop button used by the Palletizing Solution is the one found on the robot’s teach pendant. Make sure operators know how to stop the Solution in case of emergency.
  • Page 64 c. Press the Confirm pallet(s) ready button on the push button enclosure to confirm that the pallet is ready and that the area is cleared. 4. When NOT using the Confirm new pallet(s) ready button with safeguarded devices: a. Once a pallet is full, the status light will turn solid blue or blinking blue (see Status Light States section for all the information about light states).

  • Page 65: Palletizing Operation Diagrams

    4.3.Palletizing Operation Diagrams The following diagrams explain the logic of the Palletizing Solution process based on the operator's actions, as well as responses such as signals, pallet and box sensor behaviors, etc. These steps are also explained in the Palletizing Operation Instructions section.

  • Page 66: Statuslight States

    USB adapter. Try powering off the system (both the robot and the Robotiq control box). Wait 1 minute. Power up the system again. Follow the procedure required by the system to recover A Protective or Emergency stop has occurred.

  • Page 67: Solution Mobility (Wash Down And Production Line Shifts)

    4.5.Solution Mobility (Wash Down and Production Line Shifts) 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 damages resulting from an installation that did not comply with the instructions found in this manual.
  • Page 68 4.5.1 .Approximate Repositioning of the Solution The following method does not guarantee a precise repositioning of the Solution. Robot movements should be performed, tested and validated after each repositioning process to ensure accuracy. 1. Set the robot in a transport position by referring to the joint positions below. Joint Position Base...
  • Page 69 4. Unscrew the four (4) anchor nuts and keep them for future use. 5. If the Solution is attached to a conveyor, disassemble the attachment. 6. Insert the forks of the pallet truck or forklift truck in the fork entry openings until they reach a stop. 7.
  • Page 70 4.5.2.Accurate Repositioning (Against Anchored Down Removable Stopper) The following method allows for a precise repositioning of the Solution, and should be used for the frequent moving of the Solution. 1. Set the robot in a transport position by referring to the joint positions below. Joint Position Base...
  • Page 71 5. Insert the forks of the pallet truck or forklift truck in the fork entry openings until they reach a stop. 6. Unscrew the four (4) bolts that hold the removable stopper to the base of the Solution. 7. Insert the four bolts in the clearance holes on the top surface of the removable stopper.
  • Page 72 8. Slightly raise the forks so that the Solution is freed from the anchors. 9. Slowly and carefully move the Solution, making sure the Solution remains close to the ground. 10. Reposition the Solution back to its original place using the tabs of the removable stopper as guides. 11.

  • Page 73: Urcap Software

    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 manufacturing and sale of robotic products (the Licensor’s Business);...
  • Page 74 Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s 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 75 11. Training, Maintenance and Support There is no entitlement to training, maintenance and support under this license unless otherwise specified in the Purchase Agreement or any other written agreement between the End-User and the Licensor. The End-User may provide the Licensor with details regarding any bug, defect or failure in the Software promptly and with no delay from such event;...

  • Page 76: Copilot

    Fig. 5-2: Copilot Configuration Tab in the Installation Menu NOTICE- Speed Slider Robotiq recommends to keep Copilot activated at all times. However, if another URCap or PolyScope option (for instance, via ProfiNET or Ethernet/IP) needs to take control of the speed slider, the option Use Copilot to manage a soft speed transition when...

  • Page 77: Command Window

    4. If required, select the Enable "Confirm new pallet(s) ready" button option. This feature allows the user to use the Confirm new pallet(s) ready button found on the push button enclosure. This prevents the Palletizer from palletizing on a new pallet detected by the pallet sensors.
  • Page 78 Fig. 5-3: Home View of a New Palletizer Node 3. Tap the Edit button in the Settings block. SettingsBlock Settings Menu...
  • Page 79 Fig. 5-4: Settings Menu of a Palletizer Node 1. Palletizer mode Select the radio button that corresponds to the task to be performed, either Palletizing or Depalletizing. The default value is Palletizing. 2. Box and pallet display units Select the preferred measurement system, either Metric or Imperial. The default value is Metric. 3.
  • Page 80 Fig. 5-5: Settings Menu of a Palletizer Node - Global Settings NOTICE When enabled, the multi-recipe feature changes the home view of the Palletizer node and displays the list of palletizing recipes. 4. Enable multi-pick (different boxes or box groups) Disabled by default.
  • Page 81 This prevents the robot holding boxes, and the actual boxes, from reaching beyond the limits of the virtual plane. NOTICE Robotiq recommends keeping a minimum distance of 50 mm (2 in) around all pallet sides.
  • Page 82 7. Tool speed and Tool acceleration Set the speed and acceleration of the end-of-arm tooling for: When it carries a load (With box) When it moves without carrying a load (Without box) CAUTION When the multi-recipe feature is enabled, the With box values are specific to the recipe being edited, and the Without box values apply to the entire Palletizer node (i.e., all recipes of the node).
  • Page 83 Fig. 5-7: Home View of a Multi-Recipe Palletizer Node Tap the Add Recipe button to create a new pallet recipe, yet to be configured. The Default recipe dropdown menus allow the user to select which recipes will be used at the start of the robot program. If applicable, tap the Duplicate icon to open the duplication menu.
  • Page 84 If required, duplicate a recipe and tap the OK button, or tap Cancel to go back to the list of recipes. Tap the Edit button under the name of a recipe to bring up the Box, Pallet, Pattern and Settings blocks specific to the recipe to edit.
  • Page 85 Fig. 5-10: Duplicate Box Type Menu Duplicate a box type and tap the OK button, or tap Cancel to go back to the Box Type menu. NOTICE Tip: Rename the box types in a manner that will prevent confusion (e.g., single_box, double_box, triple_box).
  • Page 86 Box Menu Fig. 5-11: Box Menu of a Palletizer Node 1. Box type name (Multi-Pick) If the multi-pick feature has been enabled in the Settings menu, the Box menu will display the name of the selected box type above the Box attributes. 2.
  • Page 87 NOTICE Best Practice - Multi-Pick Feature Should the user need to pick several identical boxes using one or several grippers, Robotiq recommends the following: Create a first box type (i.e., standard box type) that corresponds to a single box unit.
  • Page 88 Set Grip Position / Set Drop Position Tap the Set Grip Position button (palletizing mode) or Set Drop Position button (depalletizing mode) to open the UR Move menu Move the TCP to the position at which the gripper will pick up or drop the boxes (e.g., from/on a conveyor). The TCP should be positioned at the center of the top of the box that needs to be picked or dropped.
  • Page 89 Fig. 5-14: Examples of Box Center Offset from TCP c. Allow gripper to pick the box at different angles In order to optimize the trajectory and travel of the robot arm during the palletizing or depalletizing process, the user can allow or prevent the gripper to pick up the boxes from different angles.
  • Page 90 d. Define conveyor to avoid collisions Unticked by default. Tick the box to unlock the Configure button. Tapping the Configure button will bring up the Conveyor menu. Conveyor Menu Tick the radio button that corresponds to the palletizing cell (Perpendicular, Parallel, Custom). Refer to the diagram on the interface and enter the corresponding values.
  • Page 91 Pallet Block Single Recipe By default (single recipe), the home view of the Palletizer node displays the Box, Pallet, Pattern and Settings blocks of the only recipe available. Tap the Edit button of the Pallet block to open the Pallet menu. Multi-Recipe When the multi-recipe feature is enabled, the home view of the Palletizer node displays the list of recipes created.
  • Page 92 NOTICE Should the user unselect a pallet side (either left or right), that pallet will be ignored by the system (i.e., considered as if there was no pallet present, even if a pallet is detected by the pallet sensors. 3. Global callout (multi-recipe only) If the multi-recipe feature has been enabled in the Settings menu, this callout will be shown.
  • Page 93 Pattern Menu Fig. 5-21: Pattern Menu 1. Pattern configuration This shows a list of available layer patterns. By default, two (2) empty layer patterns are available (i.e., pattern_1 and pattern_2), yet to be configured. Tap the Edit button under the name of a layer pattern to bring up the Pattern editing menu. 2.
  • Page 94 Fig. 5-22: Duplicate Pattern Menu Duplicate a pattern and tap the OK button, or tap Cancel to go back to the Pattern menu. 4. Number of layers Fill in this field with an integer to set the number of layers that will make up the pallet. 5.
  • Page 95 value, and going top to bottom increases the Y value. NOTICE A light blue box is a box that has been placed. It can be selected by tapping on it. The dark blue box is the active box. It can be moved around using the arrows on the screen. A red box is an "...
  • Page 96 4. Add box Tap the plus (+) button to add a box. The first box will automatically be placed at the origin (0,0) of the layer (i.e., top left corner on the pallet). The newly added box will feature a dark blue color, meaning it is the active box. NOTICE The user can select any box placed on the virtual pallet by tapping on it.
  • Page 97 Use the middle button to turn the active box 90 degrees clockwise. 7. Select all Tap the Select all button to highlight all the boxes placed on the virtual pallet. The user can then move the box group altogether using the on-screen movement pad or clear the layer by tapping the minus (-) button.

  • Page 98: Program Tree

    Fig. 5-25: Layer Sequence Menu 5.4.Program Tree 5.4.1 .Standard Palletizer Node Robotiq's Palletizer node provides a quick, versatile, adaptable and efficient way to program palletizing and depalletizing movements and actions. Fig. 5-26: Standard Palletizer Node in a Program Tree...
  • Page 99 In its most basic form, the Palletizer node allows the user to insert “ before pallet” instructions, grip and release actions, “ between layer” instructions, and “ after pallet” instructions. The actual instructions that make the robot arm and end effector go to and fro are managed by the URCap based on the settings of the single or multiple recipes chosen by the user.
  • Page 100 1. In the program tree, tap Robot Program at the very top. 2. Go to Program > Advanced and select Thread. 3. Tick the Loops Forever box at the bottom of the Thread screen (if not already ticked). NOTICE Thread nodes display at the end of the program tree; they work in parallel of the main program. Fig.
  • Page 101 7. Tap the f(x) button adjacent to the dropdown menu. 8. In the panel that just opened, expand the Input dropdown menu. 9. Select the digital input that corresponds to box sensor #1 (digital_in[0], in this example). Go through the Box Sensors (Multiple Box Types - Multi-Pick Feature) section to determine the digital input to select at this point.
  • Page 102 Fig. 5-31: If node in the Grip node 3. In the panel that opens: a. Enter the name of the first box type between quotation marks. b. Enter the questioned equal to symbol (≟) (use the keyboard in the panel to enter the appropriate symbol). c.
  • Page 103 CAUTION The name of the first box type must absolutely be between quotation marks. The questioned equal to symbol (≟) must be entered using the keyboard in the panel. 4. In the program tree, select the <empty> node in the If node. 5.
  • Page 104 Fig. 5-33: Set Nodes in the Else node 20. In the program tree, select the <empty> node in the Release node. 21. Go to Program > Basic and insert two Set nodes. 22. In the first Set node, tick the Set Digital Output radio button 23.
  • Page 105 5.4.3.Program Start - Pallet Viewer If the option to Validate pallet state at program startup has been selected in the Settings Menu section of the Palletizer node, a Pallet viewer pop-up will display upon the start of the robot program for the user to confirm the state of the pallet. If the multi-recipe feature has been enabled in the Settings menu of the Palletizer node, the Pallet viewer will automatically use and display the default recipes selected in the Home View section of the multi-recipe Palletizer node.
  • Page 106 Empty In palletizing mode, the Empty state instructs the robot to process the pallet as if it were ready to be palletized from the very beginning. In depalletizing mode, the Empty state indicates that the pallet should be replaced by a full pallet. Full In palletizing mode, the Full state indicates that the pallet should be replaced by an empty pallet.

  • Page 107: Palletizing Script Functions

    5.5.Palletizing Script Functions Palletizing functions are made available in the Script dropdown menu. Fig. 5-35: Script node Tap the Script Code textbox (f(x)), then on the Function dropdown menu. Select the script function from the list. Fig. 5-36: Function dropdown menu in Script node 5.5.1 .Number of Processed Boxes Description This function returns the number of processed boxes.
  • Page 108 5.5.2.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( ) Returned value...
  • Page 109 5.5.4.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=''ABSENT'', current_ pallet=''CURRENT'', left_recipe=" " , right_recipe=" " ) 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 110 5.5.5.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() Returned value This function returns a string which is the name of the box type currently being processed. The string is case-sensitive 5.5.6.Get Current Pallet Recipe Description This function returns the pallet recipe being processed when the multi-recipe feature is enabled.

  • Page 111: Specifications

    6.1 .Technical Dimensions 6.1 .1 .Base with Pedestal, Robotiq Control Box and Operator Station Fig. 6-1: Base with Pedestal, Robotiq Control box and Operator Station - technical dimensions 6.1 .2.PowerPick20 Vacuum Gripper (Optional) For the technical dimensions of the PowerPick20 Vacuum Gripper, please refer to the Technical Dimensions section of the...

  • Page 112: Mechanical Specifications

    Maximum number of box patterns No constraint Energy source Electricity Table 6-1: Robotiq Palletizing Solution mechanical specifications Maximum box weight depends on the robot model and gripper used. Minimum box dimensions depend on pallet dimensions. Use the Robotiq Configurator to validate the combination Maximum pallet dimensions depend on your box dimensions and pallet configuration.

  • Page 113: Electrical Specifications

    WARNING The Robotiq control box is CE marked and cCSAus certified. Any modification will void the certification. The following diagram illustrates the basic connections of the Robotiq control box. For more information, download the electrical package on the Robotiq support website.

  • Page 115: Periodic Inspection And Maintenance

    7.Periodic Inspection and Maintenance CAUTION Maintenance operations are for the average normal use of the Robotiq Palletizing Solution. Maintenance intervals should be adjusted according to the environmental conditions. Following maintenance intervals will ensure: The correct functioning of the equipment The validity of the warranty The prescribed lifetime of the equipment.

  • Page 116: Inspection

    In the latter case, the upstream section remains pressurized. To turn off the electrical power downstream of the Robotiq Control Box, switch the main isolator off and lock it in the off position. It is also possible to unplug the main power cable from the power outlet.
  • Page 117 Inspect the concrete around the four (4) anchor points at each corner of the Solution. Make sure the concrete is in good condition with no cracks, chips or other hazards. Palletizer Structure Inspect the metallic structure of the base of the palletizer. Make sure the base does not display cracks, bends, surface damage or other signs of failure on sheet metal and welding spots or beads.
  • Page 118 Pedestal Inspect the pedestal. Verify that the four (4) screws holding the pedestal to the base of the Solution are present and tightened to the appropriate torque. Robot Inspect the flanged joint between the robot’s base and the pedestal. Verify that the six (6) bolts at the base of the robot are present and tightened to the appropriate torque. Cabling and Tubing Inspect all cabling and tubing.

  • Page 119: Fastenersspecifications

    7.2.2.PowerPick20 Vacuum Gripper (Optional) Please refer to the Maintenance section of the PowerPick20 user manual available at support.robotiq.com. 7.3.FastenersSpecifications Inspect all screws and bolts periodically to make sure they are tightened to the appropriate torque, as represented in the table below.

  • Page 120: Cleaning

    Use non-abrasive cleaning agents and media. Periodically clean the Robotiq control box air filters and replace them when necessary. 7.4.2.PowerPick20 Vacuum Gripper (Optional) Please refer to the Maintenance section of the PowerPick20 user manual available at support.robotiq.com. 7.5.Storage Choose cool, dry and well-shaded environments.

  • Page 121: Spare Parts, Kitsand Accessories

    The following list is deemed up to date based on the moment at which this document was built. It is subject to change. Please check online for updates. Item Description Ordering Number 1 x Status Light for the Robotiq Palletizing Status Light for Palletizing Solution PAL-STAT-LIGHT Solution Box Sensor Kit for the Robotiq Palletizing...

  • Page 122: Troubleshooting

    9.Troubleshooting 9.1 .Palletizing Solution (excluding the PowerPick20 Vacuum Gripper) Symptom / Issue Cause Solution Increase box height value to compensate for box size A collision occurred between the gripped discrepancies. A good practice to box and a box on the pallet. Robot comes to a protective stop determine box height is to measure after palletizing a few layers...
  • Page 123 Home position and restart the program. Should none of the above steps solve the issue, please contact support@ robotiq.com. The box layer shows a rotational offset relative to the surface of the Execute the centering procedure pallet. Collisions can occur with the not centered on the base.
  • Page 124 Confirm that the TCP has been Incorrect TCP. configured correctly TCP does not account for the bracket used. Configure the TCP correctly. A collision occurred The size of the surface covered by the gripper or suction device should always be equal or smaller than the Gripper size extends beyond box.

  • Page 125: Powerpick20 Vacuum Gripper (Optional)

    9.2.PowerPick20 Vacuum Gripper (Optional) If the desired vacuum level cannot be reached or if a loss of vacuum occurs: Verify the feed pressure level; adjust accordingly Inspect the condition of the suction cups; replace if necessary Make sure that the air path, including the manifold, is clean and unobstructed Inspect the air filter;...

  • Page 126: Warranty

    Robotiq covers 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 127 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 128: Harmonized Standards

    1 0.Harmonized Standards 1 0.1 .ECDeclaration of Incorporation 1 0.1 .1 .Robotiq Palletizing Solution...
  • Page 129 1 0.1 .2.PowerPick20 Vacuum Gripper (Optional)

  • Page 130: Identification Plate

    1 0.2.Identification plate The following identification plate is screwed to the bottom of the Solution's pedestal.

  • Page 131: Appendix

    1 1 .Appendix 1 1 .1 .Palletizing Cell Layout The figure above is a top view of the recommended palletizing cell layout and distances, with the handling of 600 mm x 400 mm x 400 mm (L x W x H) boxes.
  • Page 132 Failure to follow this recommended layout may result in the inability to operate the Solution. The dimensions found in the figure are conservative. If for any reason it is impossible for the user to implement this layout, please contact Robotiq's application experts for assistance and support.

  • Page 133: Conveyor Positioning Holes

    1 1 .2.Conveyor Positioning Holes NOTICE The mounting component of the conveyor should be placed directly under the upper lip of the removable stopper to facilitate the removal of the Solution from the anchors.

  • Page 134: Overhang Spacers

    1 1 .3.Overhang Spacers...

  • Page 135: Pneumatic Diagram

    1 1 .4.Pneumatic Diagram...

  • Page 136: Contact

    1 2.Contact Robotiq 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...

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