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Summary of Contents for ROBOTIQ AX10
- Page 1 Robotiq AX10 Palletizing Solution INSTALLATION GUIDE X-990105-H...
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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: Tools Needed
Hammer (for concrete anchors) ● UNBOXING 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. Crush hazard: Keep hands and body parts clear of the immediate work area when lowering the column onto the base. - Page 4 13. Position the column vertically. Use the pivot point at the base to lift the column. Lift and place the column onto the base. Robotiq recommends attaching the hook at the top of the column to a lifting device (e.g., hoist) to bring the column upright...
- Page 5 15. Secure the column on the base using the four (4) M10 screws provided. Tighten to a torque of 50 Nm. 16. Move and position the unit using either one of the following methods. Using a forklift Pay attention to the center of gravity to prevent the equipment from tipping over. Make sure to secure and stabilize the Solution before moving it.
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Page 6: Mechanical & Electrical Installation
MECHANICAL & ELECTRICAL INSTALLATION Main steps A. Robot Installation B. Base Cover Plate Removal C. Linear Axis Controller Installation D. Universal Robots Control Box Installation E. Power Connection F. Inter-Controller Connection G. Status LED Connection H. Cable Routing for Pallet Sensors and Palletizer Base I. - Page 7 Install the robot before installing the linear axis controller in order to ensure the stability of the Palletizing Solution. Failure to do so can result in material damage and bodily injury. A. Robot Installation Place the robot on the robot base plate so its power cable is oriented towards the linear axis.
- Page 8 C. Linear Axis Controller Installation Remove the four (4) screw caps on the linear axis controller. Partially unscrew (approximately 3 mm) each screw at the back of the linear axis controller. 3. Align the four (4) screw with the mounting slots of the controller bracket at the back of the column.
- Page 9 1. Connect the power cable of the linear axis controller to the UR control box. 2. Push the robot's power cable into the column via the hole on the side and bring it out through hole #3. 3. Connect the robot power cable to the UR control box. 4.
- Page 10 F. Inter-Controller Connections 1. Open the UR control box. 2. Connect the USB hub to a USB port. 3. Connect the Copilot license dongle to one of the ports of the USB hub. It must remain connected at all times. 4.
- Page 11 H. Cable Routing for Pallet Sensors and Palletizer Base 1. Channel the pallet sensor cables (W50 and W60) through the column and pull them out via hole #4. 2. Connect the pallet sensor cables to the linear axis controller. Follow cable labeling and connector identification.
- Page 12 4. Connect the linear axis cable to the linear axis. 5. Push the grounding (green) cable into the column via hole #5 and bring it out at the front of the column. 6. Secure the grounding cable of the linear axis controller to a tapped hole on the interior walls of the base using the provided M6 screw and two (2) tooth lock washers.
- Page 13 9. Take the 12 mm pneumatic tubing and the box sensor cable rolled inside the column, next to the linear axis motor, and route them out of the base, through the rectangular hole. 10. Remove the pneumatic plug from the end of the pneumatic tubing and connect it to the existing compressed air lines using a pneumatic fitting for 12 mm tubing (not included).
- Page 14 SI1 0 V supply Emergency Stop Emergency stop status signal (from robot) to safety relay input of Robotiq control box (signal #1) Emergency Stop Emergency stop status signal (from robot) to safety relay input of Robotiq...
- Page 15 2. Rotate the column counterclockwise as much as possible. 3. Position the robot so that the wrist is on the outer left side of the base, as shown in the figure below. 4. 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°.
- Page 16 Should the application require a different type of configuration, please refer to the PowerPick10 Vacuum Gripper Shoulder -155° user manual available on Robotiq's support website. Elbow -60° 1. In order to streamline the installation of the PowerPick10 Gripper and its accessories, power on Wrist 1 -80°...
- Page 17 2. Slide the Vacuum Generation Unit onto the two (2) M8 x 20 hex head cap screws. 3. Tighten the screws using the provided 13 mm socket. The required torque is 5 Nm. Make sure that there is no pneumatic power present on the P+ Port located on the column under the Vacuum Generation Unit.
- Page 18 13. Tuck any excess cable inside the column. 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. M. Installation of the Cable Management System 1. Robot Positioning...
- Page 19 3. Tubing Installation a. Connect the end of the 10 mm double air tube labeled TOOL SIDE to the pneumatic elbow fittings of the PowerPick10 Vacuum Gripper’s manifold at the end of the robot arm. b. Push the air tube until fully seated. c.
- Page 20 Open the cable entry frame by unscrewing the two screws on the side of the frame. Remove the grommets from the frame. Slide the two 10 mm grommets on both 10 mm air tubes. i. Run the end of the 10 mm air tubes through the hole in the robot base plate and pull them out of the hole on the side of the carriage.
- Page 21 t. Connect the end of the 10 mm air tubes labeled BASE SIDE to the union fittings. Push the air tube until fully seated. v. Back at the top of the column, remove the two (2) pneumatic plugs from the end of the 10 mm pneumatic tubes coming out of hole #1.
- Page 22 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). c. Use the three provided cable ties (red component in the figure above) to secure the tubing to the tubing curler, and make the tubing follow the arch of the tubing curler.
- Page 23 k. Install the cover on the side of the carriage with two (2) of the provided screws. N. Box Sensor Cable Connection Run the box sensor’s cable through a hole under the robot control box. 2. Connect the wires to the terminal blocks of the robot control box. a.
- Page 24 If for any reason it is impossible for the user to implement this layout, please contact Robotiq's application experts for assistance and support. Appendices A and B of this document present a top and a side view of the recommended cell layout, which is valid for typical ranges of box dimensions.
- Page 25 P. Anchoring the Solution Make sure to follow all safety rules and regulations of your workplace while working with the Solution. Choose the anchors With the anchors provided with the Solution, it should be installed in 28 MPa ○ undamaged concrete (minimum). With other anchors, each anchor should be able to withstand the following forces ○...
- Page 26 Elbow -167° 3° Wrist #3 -273° 273° SOFTWARE & OTHER INFORMATION 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 27: Appendix A - Recommended Layout (Top View)
Appendix A - Recommended Layout (Top View) -
Page 28: Appendix B - Recommended Layout (Side View)
Appendix B - Recommended Layout (Side View)
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