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Summary of Contents for ROBOTIQ PE20
- Page 1 PE20 Robotiq Palletizing Solution INSTALLATION GUIDE X-990125-A...
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Page 2: What Is Supplied
THANK YOU FOR CHOOSING ROBOTIQ This step-by-step guide will allow you to install and test your Robotiq Palletizing Solution on Universal Robots. Make sure to read the user manual before installing the Palletizing Solution. WHAT IS SUPPLIED? Standard upon delivery of... -
Page 3: Safety And Warnings
SAFETY & WARNINGS The operator(s) must have read and understood all of the Safety section in the user manual (available at support.robotiq.com). The entire cell must go through a comprehensive risk assessment process before it can be used. Do not turn on or operate the Palletizing Solution before making sure the device is firmly anchored and the machine area is cleared. - Page 4 Installation hazard: DO NOT install this equipment without having read and understood the ● Robotiq PE20 User Manual. DO NOT install this equipment without having the proper training and ● experience. DO NOT install any robot other than the Universal Robots UR20.
- Page 5 Temporarily secure the cable by attaching it to the pedestal using a long zip tie. Use a 17 mm wrench to remove the lag bolt securing the top plate of the pedestal. Remove the pedestal from the crate. It is recommended to use proper hoisting equipment to perform this operation.
- Page 6 Use a forklift to lift the base from the aisle side (i.e., the side where the Robotiq control box is located). Place the solution on shims with a thickness of at least 10 mm (3/8 in). (The two (2) wooden frames can be used as shims for this step.) Make sure that the shims are not beneath the two L-shaped aluminum brackets located at the conveyor side of the base.
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Page 7: Mechanical & Electrical Installation
Grounding of the Pedestal Grounding of the Operator Station Power and Control Connections Operator Station Installation Centering the Solution PowerPick 20 Installation (only for SOL-PAL-UR-VAC-PE20) Cable Management System Box Sensor(s) Installation Moving and Positioning the Solution Anchoring the Solution O. Finalization and Power On P. - Page 8 A. Pedestal Installation 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. 2. Use a forklift truck or pallet truck to lift the base and remove the shims underneath it. 3.
- Page 9 B. Robot Installation Slide the bundled cable inside the pedestal (see section 4. Unboxing). From the outside, attach the wrapped cable to the flange of the pedestal using a long cable tie. Use the rubber plug found in the robot box to close off the hole commonly used to run the robot pigtail cable through the robot base.
- Page 10 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). Make sure that the convex part of the washer is at the bolt end of the assembly.
- Page 11 Tilt the control box back and forth to reassemble the hinging mechanism. D. Pneumatic Tubing Installation Remove the two (2) M8 x 20 hex cap screws to tilt back the Robotiq control box. Tilt back the UR control box. Take the 12 mm pneumatic tubing out of the base of the pedestal.
- Page 12 Slide the eyelet connector of the pedestal’s ground wire on the ground stud and reinstall the lock washer and M6 nut. Make sure that the eyelet connectors of all three (3) components (the Robotiq control box, the pedestal and the operator station) are on the ground stud, in between the two lock washers.
- Page 13 Run the W200 Ethernet cable from the UR control box bay to the UR control box. Connect the W200 Ethernet cable to the USB/Ethernet adapter. Run the W103 cable from the Robotiq control box to the UR control box. Wire the W103 cable in the UR control box based on the figure below.
- Page 14 Wire # Function Description 0 VDC 0 VDC supply UR Safeguard input 2 Emits a safeguard status signal when a safeguard device is connected to safeguard input SI1. To be connected only when Optional safety kit is used. UR Safeguard input 1 Emits a safeguard status signal when a safeguard device is connected to safeguard input SI0.
- Page 15 Run the box sensor cable(s) through the opening located on the conveyor side of the Solution, and to the UR Control box. Wire the box sensor cable(s) based on the configuration of the palletizing cell (Single Box Type or Multiple Box Types / Multi-Pick Feature). Connect the provided USB hub to the second USB port.
- Page 16 H. Operator Station Installation 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. Tighten to 25 Nm (37 lb-ft).
- Page 17 When the X position is within the specified range, remove the M12 x 30 screws, one at a time, apply threadlocker on the threaded part of the screws, and retighten to 84 Nm (62 lb-ft). PowerPick 20 Installation (only for SOL-PAL-UR-VAC-PE20)
- Page 18 To streamline the installation of grippers and accessories, power on the robot and rotate the joints as described in the table below, then power off the robot. Joint Position Base -90° Shoulder -190° Elbow -15° Wrist 1 -65° Wrist 2 -90°...
- Page 19 PowerPick20 Vacuum Generation Unit 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. 2. Slide the vacuum generation unit onto the two (2) M8 x 20 hex head cap screws.
- Page 20 17. Connect the open end of the I/O cable to the robot control box according to the table and figure below. The figure shows an example of which terminal can be used as a reference only. Color Connection Function AG (Analog Ground) 0V Pressure Sensor #1 (S1) Violet AI (Analog input)
- Page 21 (without horizontal or vertical offset). For more instructions on how to choose the proper configuration and how to install the PowerPick20 Vacuum Gripper, please refer to the section Mechanical Installation of the PowerPick20 user manual available at support.robotiq.com. Install the Manifold directly on the robot wrist (no coupling required). Align with the dowel pin on the robot wrist.
- Page 22 TCP and Center of Mass In the PolyScope interface, go to Installation > General. 2. Expand the TCP dropdown menu, then select Payload. 3. Enter the appropriate center of mass and TCP of the gripper. As a reference, the TCP, gripper weight and Center of mass values for the most common configurations of PowerPick20 (without vertical or horizontal offsets) are shown in the following table.
- Page 23 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 24 2. Cable Clip Installation a. Install the three (3) cable clips with a 0.5 m hook and loop fastener at positions #1, #2 and #3 as shown in the figure above. b. Install the cable clip with a 1 m hook and loop fastener at position #4 (dark gray section of the shoulder joint) as shown in the figure above.
- Page 25 4. 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 tube curler should point towards the wrist of the robot).
- Page 26 L. Box Sensor(s) Installation Box Sensor (Single Box Type) Run the box sensor cable through a hole under the robot control box. 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 ●...
- Page 27 M. Moving and Positioning the Solution Set the robot in a transport position by referring to the joint positions below. Disregard this step if the robot has not been installed yet. Joint Position Base -75° Shoulder -200° Elbow -125° Wrist 1 90°...
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Page 28: Minimum Maximum
N. Anchoring the Solution The Robotiq Palletizing Solution must be anchored for it to be used. Position the base at its final location. Use a rotary hammer and a 1/2 in concrete drill bit to drill a hole with a depth of at least 80 mm (3 in) at each of the four (4) anchoring points at the base. - Page 29 Safety section of the user manual. SOFTWARE & OTHER INFOS To complete the installation and for all additional information about the Robotiq Palletizing Solution and its software, please refer to the corresponding sections of the instruction manual at robotiq.com/support.
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Page 30: Appendix A - Recommended Layout (Top View)
Appendix A - Recommended layout (top view)
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