Page 1 ROBOTIQ PE10 PALLETIZING SOLUTION Original instructions (en) © 2024 Robotiq Inc. Robotiq PE10 Palletizing Solution for Universal Robots robotiq.com | leanrobotics.org User Manual...
Page 2: Table Of Contents
4.3. Palletizing Operation Diagrams 4.4. Status Light States 5. URCap Software 5.1. License Agreement 5.2. Copilot 5.3. Command Window 5.4. Program Tree 5.5. Palletizing Script Functions 6. Specifications 6.1. Technical Dimensions 6.2. Mechanical Specifications 6.3. Electrical Specifications PE10 Palletizing Solution...
Page 3 8.1. PowerPick10 (Optional Gripper) Spare Parts & Accessories 9. Troubleshooting 9.1. Palletizing Solution (excluding the PowerPick10 Vacuum Gripper) 9.2. PowerPick10 Vacuum Gripper (Optional) 10. Warranty 11. Harmonized Standards 11.1. EC Declaration of Incorporation 11.2. Identification plate 12. Appendix 12.1. Palletizing Cell Layout 13. Contact PE10 Palletizing Solution...
Page 4 PE10 Palletizing Solution...
Page 5: Revisions
Revisions 2024/02/12 Updated several sections after changes were made to the PE10 Palletizer to accommodate for the latest hardware release of the PowerPick10 Vacuum Gripper PowerPick10 Vacuum Gripper and Vacuum Generation Unit installation and specifications Cable management system Electrical installation...
Page 6 Updated Physical Clearance and Reachable Area of the Robot section Added new option in Copilot Configuration tab Added new option in Palletizer node Removed Force and Speed Robot Limits section Updated Harmonized Standards section 2022/01/04 Initial Release PE10 Palletizing Solution...
Page 7 Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.
Page 8: General Presentation
Robotiq PE10 Palletizing Solution for UR10e Universal Robots. The Robotiq PE10 Palletizing Solution is a hardware and software solution preconnected and ready to install. It is composed of a base fully integrated with a Robotiq control box, pallet sensors,a pedestal, and a post with a teach pendant rack and status lights.
Page 9 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 10 NOTICE Please refer to the user manual of the PowerPick10 Gripper on Robotiq's support website for more information on other end-of-arm configurations, including suction cups, suction cup brackets, wrist extension and hollow offset links.
Page 11: 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 12: Risk Assessment
Risk of load dropping resulting from loss of vacuum. Risk of pinching by 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 13 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 14 With the PowerPick10 Gripper operating at the optimal pressure level, the noise level at the workstation is 76 dBA (please refer to the Specifications section of the PowerPick10 Vacuum Gripper user manual, available at robotiq.com/support). Hearing protection is recommended but not mandatory.
Page 15 Hot Surfaces The proper use of the Palletizing Solution does not create hot surfaces. If surfaces get hot, please stop using the Solution and contact the Robotiq support team. Radiation The proper use of the Palletizing Solution does not create non-ionizing radiation.
Page 16 Follow the 5 electrical engineering safety rules when working on electrical equipment: 1. Disconnect completely. 2. Secure against reconnection. 3. Make sure there is no voltage. 4. Perform grounding and short-circuiting. 5. Provide protection against adjacent live parts. PE10 Palletizing Solution...
Page 17 In the case of an undesired event (malfunction, emergency, blockage, etc.), power loss or unwanted power surge, you can: Use forced back-driving. To perform forced back-driving, push or pull the robot arm hard enough to move the joint. Each joint brake has a friction clutch that enables movement during high forced torque. PE10 Palletizing Solution...
Page 18: 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 19 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 20 (Up to safety limits) Protective stop Category 2 Stop Safeguard stop Category 2 Stop Emergency stop Category 1 Stop Reduced mode Please refer to the Universal Robots user manual for more details. Fig. 2-1: Safety Logic Diagram PE10 Palletizing Solution...
Page 21 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. PE10 Palletizing Solution...
Page 22: 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 23: Scope Of Delivery
3.1. Scope of Delivery 1 x PE10 Palletizing Solution base kit 1 x PE10 base 4 x Pallet sensors 1 x Robotiq control box 1 x PE10 Palletizing Solution Pedestal 1 x PE10 Palletizing Solution operator station 2 x Status lights...
Page 24 1 x PowerPick10 Gripper Offset Accessory kit 2 x Large suction cup brackets 1 x 120 mm Wrist Extension 1 x 100 mm Hollow Offset Link 1 x 0 mm Offset plate Air tubing Tools and hardware for installation on PE10 PE10 Palletizing Solution...
Page 25: Required Tools And Equipment
Fig. 3-1: Components of the Robotiq PE10 Palletizing Solution 3.2. Required Tools and 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 2 mm hex key...
Page 26: Environmental And Operating Conditions
Speed values might be derated at temperatures above 35 °C (95 °F). 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. PE10 Palletizing Solution...
Page 27: 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 212 kg (465 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 28 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 29 Failure to do so may result in machine damage, bodily injury or death. The center of gravity of the Solution is as follows: Robot X-axis (width) Y-axis (depth) Z-axis (height) Without robot -85 mm 4 mm 314 mm With UR10e robot (put-in-the-box position) -6 mm -42 mm 516 mm PE10 Palletizing Solution...
Page 30 Fig. 3-2: PE10 Without Robot Although you can assemble the solution at the place of your choice, you will need to move it to its final location afterwards. You can use one of the two following methods to securely move the Solution: Using a forklift.
Page 31 PE10 Palletizing Solution...
Page 32 1. Place the robot on the robot base plate so that the back of the robot (the side on which is the notch to let the power cable through the robot base) is oriented towards the front of the Solution (towards the Robotiq control box). Align properly with the two dowel pins (already installed on the robot base), and secure the robot using four (4) M8 x 25 mm screws and Belleville washers.
Page 33 5. Screw the pedestal back in place, starting with the side that has four (4) screws, with a 15 Nm torque. 6. Tighten the two (2) screws on the opposite side with a 15 Nm torque. PE10 Palletizing Solution...
Page 34 Cable Routing 1. Pull the power cable and Ethernet cable from the Robotiq control box through one of the holes in the back base plate. 2. Connect the power cable of the Robotiq control box to the the UR control box.
Page 35 The power cable provided with the UR control box is used to power the Robotiq control box. 6. Connect the cable to the Robotiq control box, as depicted below. Do not connect the power cable to a power source yet.
Page 36 9. Connect the Copilot license dongle to one of the ports of the USB hub. 10. Connect the USB-to-Ethernet adapter cable to a USB port of the USB hub. 11. Connect the Ethernet cable from the Robotiq control box to the USB-to-Ethernet adapter. NOTICE Optionally, and depending on your application, the W103 cable that corresponds to the “Restart”...
Page 37 17. Connect the W72 cable to the W70 cable under the Robotiq control box. 18. Connect the W82 cable to the W80 cable under the Robotiq control box. PE10 Operator Station Installation By default, the operator station is designed to be attached to the base of the Palletizing Solution or anchored to the ground.
Page 38 7. 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°. PE10 Palletizing Solution...
Page 39 12. On the teach pendant, confirm that the X value of the current position is 333.35 mm and the wrist is still in contact with the side of the base. 13. Put the robot back in position of use. PE10 Palletizing Solution...
Page 40 Wrist 3 90° If the scope of delivery of the PE10 Palletizing Solution does not include the PowerPick10 Vacuum Gripper, use the following parts to mount another generic gripper on the Palletizing Solution. 1 x 12 mm pneumatic tubing (5 m) CAUTION The maximum pressure allowed is 10 bar (145 psi).
Page 41 1. Using isopropyl alcohol, clean the area where the PowerPick10 Vacuum Generation Unit will be placed. 2. Remove the protective layers from the double-sided tape. 3. Position the PowerPick10 Vacuum Generation Unit on the Robotiq control box. Please refer to the figure below for visual reference.
Page 42 NOTICE To complete the electrical connection of the PowerPick10 Vacuum Generation Unit, please refer to the Electrical Installation section of the PowerPick10 user manual available at robotiq.com/support. TCP and Center of Mass 1. In the PolyScope interface, go to Installation > General.
Page 43 Cable Management System Cable Management with Generic Gripper If the PowerPick10 Vacuum Gripper is not part of the scope of delivery along with the PE10, the following components are provided for the cable management of a generic gripper. 4x cable clips + 0.5 m hook and loop (VELCRO®) fastener...
Page 44 Find the metallic mark on the tubing that is closest to the gripper (there are five (5) metallic marks in total on the tubing). At the metallic mark, tightly attach the tubing to the cable clip using a cable tie (red component in the figure below). PE10 Palletizing Solution...
Page 45 At the base of the robot, align the last metallic mark with the top surface of the pedestal. Secure each tube to the wishbone by looping four (4) cable ties through the notches (there should be two (2) cable ties per tube; please refer to the figure below for visual reference). PE10 Palletizing Solution...
Page 46 Verify each cable tie on the wishbone and on the robot, and tighten them to prevent the tubing from sliding. CAUTION Make sure not to crush the cables with the cable ties. Cut the excess length from all cable ties. PE10 Palletizing Solution...
Page 47 4. Install each box sensor on a bracket using the provided screws. 5. Position each box sensor bracket so it can detect the box to be picked. 6. Connect each box sensor's M8 connector cable to the corresponding sensor. PE10 Palletizing Solution...
Page 48 #2 is DI1. 3. Lay a wire between an unused digital input terminal and an unused digital output terminal (this is depicted by the green wire in the figure below). PE10 Palletizing Solution...
Page 49 And so, when both box sensors detect a box, the digital output (DO0 in the above figure) will send that combined signal to the robot. For that reason, the digital output must be connected to digital input (DI4 in the above figure) for it to be usable in the robot program. PE10 Palletizing Solution...
Page 50 Anchoring the Solution The Robotiq Palletizing Solution must be anchored for it to be used. Contact Robotiq if anchoring is not possible. WARNING The transport, lifting, and moving of the Palletizing Solution should be done by qualified professionals. Failure to do so may result to machine damage, bodily injury or even death.
Page 51 The maximum gap between the anchoring points and the ground should be 2 mm (0.08 in). 8. Add the four (4) 1/2 in-13 serrated flange nuts. 9. Tighten to a torque ranging between 68 Nm and 74 Nm (50-54 lb-ft) using a 3/4 in (19 mm) socket. PE10 Palletizing Solution...
Page 52 3.4.5. Conveyor The Robotiq Palletizing Solution does not come equipped with a conveyor. However, the palletizing cell, as construed in this instruction manual, includes a conveyor. It is thus important to enforce standard EN 619 (or the equivalent in your region).
Page 53 The 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 the Palletizer Node section to learn more about this option.
Page 54: 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 55 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) PE10 Palletizing Solution...
Page 56: 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 57: Robot Configurations
1. Tap Installation→ Safety → Joint Limits 2. Unlock the section with the password and change the values. The minimum and maximum values for the Elbow are -167° and 3°. The minimum and maximum values for the Wrist #3 are -273° and 273°. PE10 Palletizing Solution...
Page 58 The trajectories computed in the Palletizer node allow boxes to overrun the edge of the pallet. This should be accounted for when adding and setting up safety planes. Please refer to the Physical Clearance and Reachable Area of the Robot section for more information. The values can vary depending on your configuration. PE10 Palletizing Solution...
Page 59: 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 60 Exit the safeguarded area and, after making sure no one is in the palletizer work area, make a safeguard reset to restart the palletizer. CAUTION When adding safety components, make sure to respect all electrical wiring standards (example for redundant signals). PE10 Palletizing Solution...
Page 61 6. To safely resume after an emergency stop: a. Ensure the work area is clear and safe. b. Release the emergency stop button and validate the emergency stop window. c. Restart the robot. d. If necessary, reposition the robot and restart the program. PE10 Palletizing Solution...
Page 62: 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. Please refer to the Status Light States section for further information about light states. PE10 Palletizing Solution...
Page 63: Status Light 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 64: 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 65 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 66 8. The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soient rédigés en anglais seulement. PE10 Palletizing Solution...
Page 67: 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, ProfiNET or Ethernet/IP) needs to take control of the speed slider, the option Use Copilot to manage a soft speed transition when resuming from a Safeguard position can be deactivated.
Page 68: Command Window
50 mm. NOTICE Tip: Use the Robotiq Configurator to simulate the palletizing cell and obtain the exact height. 5. 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 69 Fig. 5-3: Home View of a New Palletizer Node 3. Tap the Edit button in the Settings block. Settings Block Settings Menu Fig. 5-4: Settings Menu of a Palletizer Node PE10 Palletizing Solution...
Page 70 Settings menu will affect the entire Palletizer node. 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. PE10 Palletizing Solution...
Page 71 If, for whatever reason, the Pallet viewer indicates that a pallet is absent although it is materially present, it is the responsibility of the user to confirm the actual state of the pallet, either full, empty or ignored. PE10 Palletizing Solution...
Page 72 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. 7. Tool speed and Tool acceleration Set the speed and acceleration of the end-of-arm tooling for:...
Page 73 The Default recipe dropdown menus allow the user to select which recipes will be used at the start of the robot program. When starting the program, choose which recipe will be used for each pallet in the Confirm current pallet state popup window. PE10 Palletizing Solution...
Page 74 The recipe selected from the dropdown menu in the upper right corner will change the recipe for both pallets. The recipe selected from the dropdown menu in the lower right corner will change the recipe for the other pallet only. If applicable, tap the Duplicate icon to open the duplication menu. PE10 Palletizing Solution...
Page 75 By default, the multi-pick feature is disabled in the Settings menu. When the multi-pick feature is enabled in the Settings menu, selecting the Box block brings up the Box Types menu (i.e., the list of box types created). PE10 Palletizing Solution...
Page 76 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 Rename the box types in a manner that will prevent confusion (e.g., single_box, double_box, triple_ box). PE10 Palletizing Solution...
Page 77 Make sure the box type name you enter is devoid of spaces; failing to do so will prevent the program tree from calling the box type. Tap the Edit button under the name of a box type to bring up the Box menu. PE10 Palletizing Solution...
Page 78 3. Box attributes Refer to the diagram and enter the length, width and height of the box in the corresponding fields. Enter the payload of the box in the corresponding field. PE10 Palletizing Solution...
Page 79 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 80 Multi-recipe > Select Recipe > Edit > Settings Block > Edit a. Box presence input dropdown menu Select the digital input to which the box presence sensor has been connected beforehand. b. Box center offset from TCP (multi-pick feature only) PE10 Palletizing Solution...
Page 81 90- or 180-degree rotation on the Z-axis. When the multi-pick feature is enabled in the Settings menu, the system defaults to allowing the gripper to pick the boxes as if the robot wrist had performed a 180-degree rotation on the Z-axis. PE10 Palletizing Solution...
Page 82 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. PE10 Palletizing Solution...
Page 83 When the multi-recipe feature is enabled, the home view of the Palletizer node displays the list of recipes created. 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. Tap the Edit button of the Pallet block to open the Pallet menu. PE10 Palletizing Solution...
Page 84 If the multi-recipe feature has been enabled in the Settings menu, this callout will be shown. It informs the user of the fact that the pallet(s) selected will be processed in all recipes of the Palletizer node. PE10 Palletizing Solution...
Page 85 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. Tap the Edit button of the Pattern block to open the Pattern menu. Pattern Menu Fig. 5-21: Pattern Menu PE10 Palletizing Solution...
Page 86 This preview indicates the layer sequence of the pallet pattern: A single layer pattern will display the actual name of the pattern. A multi-layer pattern will display "Mixed." 6. Edit Layer Sequence Tap the Edit Layer Sequence button to bring up the Layer Sequence menu. PE10 Palletizing Solution...
Page 87 Multi-pick feature: Boxes that are part of the active box type are shown in light blue (including the active box, in dark blue); boxes that are not part of the active box type are shown in grey. PE10 Palletizing Solution...
Page 88 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. PE10 Palletizing Solution...
Page 89 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. 8. Generate PE10 Palletizing Solution...
Page 90 In the example below, there are five (5) layers and two (2) patterns, but bear in mind that there can be a greater number of both depending on the palletizing application at hand. The user can toggle between the different layer patterns created using the corresponding radio buttons. PE10 Palletizing Solution...
Page 91: 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 92 Tip:This approach can be used to accommodate special situations such as the need to add a wait time between the sensor signal and the ready-to-palletize signal to ensure that the boxes are at the exact pick position. PE10 Palletizing Solution...
Page 93 6. In the dropdown menu, select the digital output that has been connected to a digital input (please refer to the Box Sensor (Multiple Box Types - Multi-Pick Feature) section if this step has not been completed yet). Fig. 5-29: Set Node in the Thread Node PE10 Palletizing Solution...
Page 94 The link between box type and gripper-to-activate can vary depending on the configuration. 1. In the program tree, nest an If node within the Grip node (Program > Advanced). 2. Select the If node, tap the f(x) box in the Command window (leave the Check expression continuously box unticked). PE10 Palletizing Solution...
Page 95 Enter the questioned equal to symbol (≟) (use the keyboard in the panel to enter the appropriate symbol). c. Open the Function dropdown menu d. Select rq_get_current_box_type(). e. Tap Submit. The result in the Command window should resemble this: PE10 Palletizing Solution...
Page 96 19. Repeat steps 15 to 18 with the other Set node, but select the digital output to which the other gripper is assigned. In doing so, both grippers will activate when the robot will be instructed to pick up grouped boxes. The result in the program tree should resemble this: PE10 Palletizing Solution...
Page 97 In doing so, the system will release the vacuum action in both grippers, even if only one gripper was activated. The result in the program tree should resemble this: Fig. 5-34: Set Nodes in the Release node PE10 Palletizing Solution...
Page 98 5. This indicates the step that will occur next in the palletizing workflow. 6. The Confirm other pallet state section prompts the user to select the state of the other pallet (LEFT if the current pallet is the RIGHT one, or RIGHT if the current pallet is the LEFT one). PE10 Palletizing Solution...
Page 99 Palletizer from processing the corresponding pallet. 7. The OK button will start the robot program based on the pallet states validated by the user. The Cancel button will close the Pallet viewer pop-up, and the robot program will not start. PE10 Palletizing Solution...
Page 100: 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 PE10 Palletizing Solution...
Page 101 0 = Waiting, Idle: Solution is waiting for a new pallet or a user confirmation that the pallet is ready. 1 = Ready: Pallet is ready to begin the palletizing or depalletizing process. 2 = In progress: Palletizing/depalletizing is in progress on the pallet. 3 = Completed: Pallet is full (palletizing) or empty (depalletizing). PE10 Palletizing Solution...
Page 102 Corresponds to the recipe to process on the right side of the Palletizer. The user can leave this argument blank to continue processing the right pallet with the same recipe. The user can also enter the exact name of a specific recipe to replace the current recipe. Returned value There is no return value with this function. PE10 Palletizing Solution...
Page 103 Box Menu or the Set Box Payload function. Generally used to manage high payloads. Declaration rq_use_payload_with_box(ratio) Parameters ratio: Percentage of the box payload. Must be between 0 and 1 (0 to 100%) Returned value There is no return value with this function. PE10 Palletizing Solution...
Page 104 It applies to all boxes of the current box type. Generally used to manage high payloads. Declaration rq_set_box_payload(box_payload) Parameters box_payload: The mass of the box in kg. Returned value There is no return value with this function. PE10 Palletizing Solution...
Page 105: Specifications
This manual uses the metric system. Unless specified, all dimensions are in millimeters. 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 PE10 Palletizing Solution...
Page 106: Mechanical Specifications
Maximum number of box patterns No constraint Energy source Electricity Table 6-1: Mechanical Specifications of the Robotiq Palletizing Solution 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 107: 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 109: 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 110 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 111: Fastener Specifications
Clean the mechanical components with a soft cloth, as required. Use non-abrasive cleaning agents and media. Periodically clean the Robotiq control box air filters and replace them when necessary. Gently clean the photoelectric pallet sensor window using a soft cloth as needed.
Page 112: Storage
7.3.2. PowerPick10 Vacuum Gripper (Optional) For more information about the cleaning guidelines of the Vacuum Gripper, please refer to the Maintenance section of the PowerPick10 user manual available at support.robotiq.com. 7.4. Storage Choose cool, dry and well-shaded environments. PE10 Palletizing Solution...
Page 113: Spare Parts, Kits And 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 1 x Type A Pallet Sensor...
Page 114: Powerpick10 (Optional Gripper) Spare Parts & Accessories
4 x Piab 75 mm (1.5 bellows) 75 mm suction cups VAC-CUP-PIAB-75MM-G38-KIT-4 4 x 3/8-19 BSPP threaded adapters Kit of 4 suction cups 4 x Coval 78 mm (1.5 bellows) 78 mm suction cups VAC-CUP-COVAL-78MM-G38-KIT-4 4 x 3/8-19 BSPP threaded adapters PE10 Palletizing Solution...
Page 115: Troubleshooting
Verify the box height value. Protective stop triggered by robot Pallet height value is too high. Verify the pallet height value. placing a box on first layer Confirm that the TCP has been set Incorrect TCP. correctly. PE10 Palletizing Solution...
Page 116 Execute the centering procedure pallet. Collisions can occur with the Pedestal not centered on the base. found in the Installation section. pallet sensor on one side, but not on the other. PE10 Palletizing Solution...
Page 117 Untick the "Use Copilot to manage a that no other URCap uses the RTDE Configuration > General: "Use Copilot to soft speed transition when resuming manage a soft speed transition when from a Safeguard stop" checkbox. interface." resuming from a Safeguard stop" PE10 Palletizing Solution...
Page 118: Powerpick10 Vacuum Gripper (Optional)
Robotiq, otherwise the warranty will be void. For more information on troubleshooting the PowerPick10 Vacuum Gripper, please refer to the Troubleshooting section of the PowerPick10 user manual, available at support.robotiq.com. If necessary, send an inquiry to the support team at : support@robotiq.com.
Page 119: 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 120 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 121: Harmonized Standards
11. Harmonized Standards 11.1. EC Declaration of Incorporation 11.1.1. Robotiq Palletizing Solution PE10 Palletizing Solution...
Page 122 11.1.2. PowerPick10 Vacuum Gripper (Optional) PE10 Palletizing Solution...
Page 123: Identification Plate
11.2. Identification plate The following identification plate is riveted to the bottom of the Solution's base, conveyor side. PE10 Palletizing Solution...
Page 124: Appendix
12. Appendix 12.1. Palletizing Cell Layout Fig. 12-1: Palletizing Work Zones Schema for UR10 PE10 Palletizing Solution...
Page 125: Contact
13. 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 PE10 Palletizing Solution...

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