Page 1 ROBOTIQ AX20/AX30 PALLETIZING SOLUTION Original instructions (en) © 2024 Robotiq Inc. Robotiq AX20/AX30 Palletizing Solution for Universal Robots User Manual...
Page 2: Table Of Contents
3.3.3. Mechanical and Electrical Installation 3.3.4. Atypical and Custom-Sized Pallets 3.3.5. Robot Operation Zone 3.4. Other Grippers 3.5. URCap Package 3.6. Robot Configurations 3.6.1. Smooth Transition 3.6.2. Robot Limits 3.6.3. Joint Limits 3.6.4. Configurable IOs 4. Operation 4.1. Start Up AX20/AX30 Palletizing Solution...
Page 3 6.3.2. Safety Devices with Dry Contacts 7. Specifications 7.1. Technical Dimensions 7.1.1. Linear Axis Base with Control Box 7.1.2. PowerPick20/30 Vacuum Gripper (Optional) 7.2. Mechanical Specifications 7.2.1. Palletizing Solution (Without Robot and End-of-Arm Tooling) 7.2.2. PowerPick20/30 Vacuum Gripper (Optional) AX20/AX30 Palletizing Solution...
Page 4 7.3. Electrical Specifications 7.3.1. PowerPick20/30 Vacuum Gripper (Optional) 7.3.2. Universal Robots Control Box 7.3.3. Robotiq Control Box 8. Periodic Inspection and Maintenance 8.1. Power Off and Lock Off Procedure 9. Spare Parts, Kits and Accessories 9.1. PowerPick20/30 (Optional Gripper) Spare Parts & Accessories 10.
Page 5 AX20/AX30 Palletizing Solution...
Page 6: Revisions
Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at robotiq.com/support.
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
The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" and "AX20/AX30" used in this manual all refer to the Robotiq AX20/AX30 Palletizing Solution for Universal Robots UR20 and UR30. The Robotiq AX20/AX30 Palletizing Solution is a hardware and software solution preconnected and ready to install. It is composed of a base fully integrated with a linear axis, pallet sensors, and status lights.
Page 9 Fig. 1-2: PowerPick20/30 Gripper and Vacuum Generator AX20/AX30 Palletizing Solution...
Page 10: 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 11: 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 12: Emergency Stop
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 13: Noise Level
2.2.3. Noise Level With the PowerPick20/30 Gripper operating at the optimal pressure level, the noise level at the workstation is 79 dBA (refer to the Specifications section of the PowerPick20/30 Vacuum Gripper user manual, available at robotiq.com/support). Hearing protection is recommended.
Page 14: Maintenance And Repair
Install the Solution in a safe position. Depending on the maintenance and repair work to carry out, parts may come loose and cause injury. Never go under or near the axis carriage or robot arm when performing maintenance, service, inspection, cleaning or repair work. AX20/AX30 Palletizing Solution...
Page 15: Risk Of Accident
Hot Surfaces The vertical axis motor and the Robotiq control box generate heat during operation. Do not handle or touch the axis motor while in operation or immediately after operation as prolonged contact can cause discomfort or burn. You can cool down the components by powering it off and waiting one hour.
Page 16 Impact / Crush Hazard In the event of incorrectly installed, defective, or even missing protective devices, operating the machine is not permitted. Using the Robotiq Palletizing Solution under these conditions may result in bodily injury or death. Electromagnetic Compatibility (EMC) ...
Page 17: Electrical Energy
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. AX20/AX30 Palletizing Solution...
Page 18 In the case of an undesired event (malfunction, emergency, blockage, etc.), power loss or unwanted power surge, you can refer to UR robot manual for robot forced back-driving. AX20/AX30 Palletizing Solution...
Page 19: Use Of The Solution
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: Final Application
Various types of external safety devices can interface with the Robotiq Palletizing Solution to ensure a safe operation. Please refer to the Safety Devices section for best practices on how to connect them to the Robotiq control box. NOTICE ...
Page 21 Reduced mode Stop Category 1 for more details. *Calculated using the following assumptions: static force at peak current with a 90% efficient ball screw and no friction. Fig. 2-2: Safety Logic Diagram in Automatic Mode AX20/AX30 Palletizing Solution...
Page 22 And so, the worst case stopping time for a Category 1 Stop of the linear axis is 450 ms (safe stop 1 + safe torque off), which corresponds to the maximum travel distance of 51 mm. AX20/AX30 Palletizing Solution...
Page 23 WARNING The reaction and response time of any sensing device that triggers the stop will add to and extend the overall stopping time and stopping distance. AX20/AX30 Palletizing Solution...
Page 24: 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 25: Scope Of Delivery
1 x Linear axis (1600 mm stroke) 1 x Linear axis motor 2 x Status lights 1 x AX20/AX30 removable stopper for Palletizing Solution 1 x AX20/AX30 Series operator station: 1 x Teach pendant rack ...
Page 26: Required Tools And Equipment
1 x Large suction cup bracket assembly Air tubing Tools and hardware for installation on AX20/30 3.2. Required Tools and Equipment The following tools are not included, but required to install the Palletizing Solution: Forklift or pallet jack (minimum fork length of 1220 mm [48 in]) ...
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 645 kg (1420 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 1. Remove the top panel and the four (4) sides of the crate by removing the screws that hold them into place. 2. Remove the Robotiq control box. CAUTION The control box weighs 33 kg (73 lb). Proceed with care and seek assistance to lift it if required.
Page 29 13. Using the sling attached at the top of the column, lift and place the column onto the base. 14. Make sure that the cables located inside the base of the column are not pinched during this operation. CAUTION The column weighs 262 kg (577 lb). Proceed with care. AX20/AX30 Palletizing Solution...
Page 30: Mechanical And Electrical Installation
The figure below indicates the location of the column holes. The robot is shipped in a pose that does not allow for installation directly on the AX20/AX30 palletizing solution. The following steps describe how to rotate the base joint in order to allow the robot to be properly mounted on the solution.
Page 31 If you ever need to remove the robot, keeping it in this position will ensure that this step does not need to be repeated. This position is also pre programmed into the URCap so it can be retrieved here: Put robot into a box (Installation tab -> URCaps -> Copilot -> Installation positions). AX20/AX30 Palletizing Solution...
Page 32 15. Run the robot cable all the way through the cable carrier. Leave the cable carrier open for now. 16. Attach the robot cable to each end of the cable carrier using two (2) cable ties. Do not tighten the cable ties completely. AX20/AX30 Palletizing Solution...
Page 33 5. Tighten the screws to secure the controller to the controller bracket. The required torque is 15 Nm. 6. Place the UR control box on top of the Robotiq control box and secure it with four (4) M12 screws. ...
Page 34 Three (3) components should be grounded: 1) the Robotiq control box, 2) the column, and 3) the operator station. Upon delivery, the ground wire of the Robotiq control box is already connected at one end, the ground wire of the column is only connected at one end (i.e., to the ground stud inside the column), and the ground wire of the operator station is also only...
Page 35: Power And Control Connections
2. Push the robot cable into the column via the hole on the side and bring it out through hole #3. 3. Connect the robot cable to the UR control box. 4. Connect the power cable provided with the solution to the Robotiq control box or that matches the required specifications". Do not use the original UR power cable.
Page 36 List of available power cable from Robotiq (provided by default for these regions): Location Robotiq Order Number Euro plug X-990133-A North America plug R-00062 + R-00063 United Kingdom plug x-990132-A DANGER Make sure to use a power cable that has the proper minimum current rating depending on the supply voltage.
Page 37 Follow cable management good practices. Drill a hole in the hole plug or use a grommet (not included). Fig. 3-1: Robotiq Control Box Cable Summary 7. Connect both status lights cables (W70 and W80) to the Robotiq control box. Follow cable labeling and connector identification.
Page 38 9. Connect the pallet sensor cables to the Robotiq control box. Follow cable labeling and connector identification. 10. Push the linear axis cable into the column via hole #5 and bring it out at the top of the column. You may use the preinstalled fishing line to pull the cable through.
Page 39 12. Connect the linear axis brake cable to the W126 cable on the Robotiq control box. Safety Signal Connections 1. Run the safety I/O cable harness (W103) through an opening under the UR Control box. 2. Connect the wires following the diagram and table below.
Page 40 Wire # Function Description 0 V supply Emergency stop status signal (from robot) to safety relay input of Robotiq control box Emergency Stop (signal #1) Emergency stop status signal (from robot) to safety relay input of Robotiq control box Emergency Stop...
Page 41 Do not completely remove the screws. (i.e., do not unscrew more than half a turn). Doing so can cause the column to tip over and, in turn, result in bodily injury and material damage. 5. Rotate the column counterclockwise as much as possible. AX20/AX30 Palletizing Solution...
Page 42 6. In the Installation tab, expand URCaps and open the Copilot menu. Then, access the Configuration tab and open Installation positions. 7. Move the robot to the following pose: Linear axis centering procedure - Approach position. AX20/AX30 Palletizing Solution...
Page 43 10. Remove the M16 x 40 screws, one at a time, apply threadlocker on the threaded part of the screws, and retighten to 150 Nm. 11. Confirm that the wrist is still in contact with the painted surface on the side of the base. 12. Put the robot back in position of use. AX20/AX30 Palletizing Solution...
Page 44 1 x Large suction cup bracket assembly For more information on how to install the PowerPick20/30 Vacuum Gripper, please refer to the Mechanical Installation section of the PowerPick20/30 user manual available at robotiq.com/support. WARNING Object picking causes the compression of the suction cup(s), which can result in pinching points between the gripper and the load.
Page 45 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. 4. Using the provided 10 mm hex key, remove the pneumatic plug from the bulkhead fitting located on the column. AX20/AX30 Palletizing Solution...
Page 46: Cable Management System
Cable Management System Cable Management with Generic Gripper If the PowerPick20/30 Vacuum Gripper is not part of the scope of delivery along with the AX20/AX30, the following components are provided for the cable management of a generic gripper: ...
Page 47 Cable management with PowerPick20/30 Vacuum Gripper (optional) When mounting a Robotiq PowerPick20/30 Vacuum Gripper on the AX20/AX30 Palletizing Solution, the following components are provided for the cable management system: 3 x cable clips + 0.5 m hook and loop (VELCRO®) fastener ...
Page 48 Align the last metallic mark on the 12 mm air tubes with the top surface of the cable entry frame. Assemble the cable entry frame with the side piece and two (2) screws and tighten the screws. AX20/AX30 Palletizing Solution...
Page 49 Rotate the tubes to remove twists in the tubing, if any. Verify each hook and loop fastener and tighten them until the cable clips cannot move when being pulled or pushed. Cut the excess length from the hook and loop fasteners. AX20/AX30 Palletizing Solution...
Page 50 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. DI4, as shown in the figure below) AX20/AX30 Palletizing Solution...
Page 51 The scope of delivery includes one (1) box sensor. Additional sensors can be ordered; refer to the Spare Parts, Kits and Accessories section for more information. AX20/AX30 Palletizing Solution...
Page 52 And so, when both box sensors detect a box, the digital output (DO4 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. AX20/AX30 Palletizing Solution...
Page 53 Push-button enclosure connections 1. Run the push-button enclosure cable harness (W102) from the teach pendant post to the bottom of the Robotiq control box. 2. Connect the push-button enclosure cable plug to the push-button enclosure socket (W102) located under the Robotiq control box.
Page 54 Failure to follow directions of the Moving and Positioning the Solution section and / or Solution Mobility (Wash Down and Production Line Shifts) sections of the current manual may result in material damage, bodily injury or death. AX20/AX30 Palletizing Solution...
Page 55 3. Place the teach pendant on the support rack of the robot’s control box. 4. Slightly raise the forks so that the Solution remains close to the ground for transport. 5. Slowly and carefully move the Solution to its final location. AX20/AX30 Palletizing Solution...
Page 56 Anchoring the Solution The Robotiq Palletizing Solution must be anchored for it to be used. Contact Robotiq if anchoring is not possible. WARNING Tip Over Hazard The solution must be anchored at all corners. The anchors provided with the Solution are Hilti - Kwik Bolt 1 (KB1) size KB1 1/2 x 5-½ and KB1 5/8 x 7 but they...
Page 57 152 (6) 152 (6) Minimum anchors spacing mm (in) 254 (10) 305 (12) Minimum edge distance mm (in) 254 (10) 305 (12) Minimum concrete strength MPa (psi) 17.2 (2500) cracked or uncracked Concrete condition Normal Weight Concrete AX20/AX30 Palletizing Solution...
Page 58: Atypical And Custom-Sized Pallets
Certain pallet types may prove difficult to detect relative to the base of the Solution (i.e., if the top of pallet does not rest against the base of the Solution, which is often the case with stackable plastic pallets). In such cases, Robotiq recommends installing offset spacers and to make them rest against the pallet blocks, legs or feet.
Page 59 L: length of the box W: width of the box H: height of the box To avoid interference between obstacles and the robot in operation, do not place any obstacles inside the approach pallet overrun limit. AX20/AX30 Palletizing Solution...
Page 60: 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 61: Urcap Package
For more information, please contact the Robotiq support department. The Robotiq URCap package provides a graphical user interface and enables direct serial communication to the robot control box. Make sure the Robotiq Palletizing Solution is installed properly. Refer to the Mounting and Installation section for detailed information.
Page 62: Robot Configurations
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, Software and Robotiq URCaps.
Page 63: Robot Limits
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°. 3. Make sure that the same joint limits are set for both the normal and reduced modes of operation. AX20/AX30 Palletizing Solution...
Page 64: Configurable Ios
1. Tap Installation→ Safety → I/O . 2. Unlock the section with the proper password 3. Set the Output Signal config_out[0], config_out[1] at System Emergency Stopped. 4. Set the Output Signal config_in[2], config_in[3] to Automatic Mode Safeguard Stop. 5. Press the Apply button. AX20/AX30 Palletizing Solution...
Page 65: Operation
5. Activate and test the linear axis: Tap the UR+ icon → ActiveDrive toolbar→ Palletizing→ Scan (you may have to press the Start button). Use the arrows to test the linear axis action. AX20/AX30 Palletizing Solution...
Page 66: Palletizing Operation Instructions
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 67: 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. AX20/AX30 Palletizing Solution...
Page 68: Status Light States
Make sure that the PLC, the robot controller (via the Ethernet/USB adapter), and the linear axis drive, are all The Robotiq control box (PLC) is unable to properly connected to the Ethernet switch. communicate with the robot control box (UR).
Page 69 Pallet is complete, system is idle; BLUE Place a new pallet Fast blink Pallet is not detected, system is idle. The Robotiq control box (PLC) is connected to WHITE the robot control box. Solid Program running without Palletizer node. GREEN A program with a Palletizer node is running but the pallet present is not completed.
Page 70: Solution Mobility (Wash Down And Production Line Shifts)
3. Place the teach pendant on the support rack of the robot’s control box. 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. AX20/AX30 Palletizing Solution...
Page 71: Accurate Repositioning (Against Anchored Down Removable Stopper)
2. Disconnect the power and pneumatic supplies as well as any other cabling that may interfere with the movement of the Solution. 3. Place the teach pendant on the support rack of the robot’s control box. 4. Unscrew the two (2) anchor nuts on the aisle side and keep them for future use. AX20/AX30 Palletizing Solution...
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. AX20/AX30 Palletizing Solution...
Page 73 11. Perform steps 1 to 8 backwards (8 to 1) to secure the Solution. Refer to the Installation section to apply the right torque on the nuts of the removable stopper’s anchors. AX20/AX30 Palletizing Solution...
Page 74: 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 75 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 76 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. AX20/AX30 Palletizing Solution...
Page 77: 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 78 This will prevent the components of the Palletizing Solution from extending beyond this limit when in motion. 4. Open the ActiveDrive toolbar, tap Palletizing, Scan, then Start. Make sure your linear axis is ready. Fig. 5-3: ActiveDrive Toolbar Showing the Palletizer and Linear Axis Are Ready AX20/AX30 Palletizing Solution...
Page 79: Command Window
2. In the Command window, tap the Start button. The interface will display the Box, Pallet, Pattern and Settings blocks. Fig. 5-4: Home View of a New Palletizer Node 3. Tap the Edit button in the Settings block. Settings Block Settings Menu Fig. 5-5: Settings Menu of a Palletizer Node AX20/AX30 Palletizing Solution...
Page 80 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. The multi-pick feature allows for the configuration of different box types. It can be used in contexts such as: AX20/AX30 Palletizing Solution...
Page 81 Saving the robot program also saves the current state (i.e., number of boxes processed) of each pallet. Loading the program will also load the saved pallet state. The Palletizer node will thus resume with the saved pallet state. 6. Add virtual planes around pallet(s) Disabled by default. AX20/AX30 Palletizing Solution...
Page 82: Home View
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 83 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. AX20/AX30 Palletizing Solution...
Page 84 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). AX20/AX30 Palletizing Solution...
Page 85 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. AX20/AX30 Palletizing Solution...
Page 86 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. NOTICE Best Practice - Multi-Pick Feature Should the user need to pick several identical boxes using one or several grippers, Robotiq recommends the following: AX20/AX30 Palletizing Solution...
Page 87 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. AX20/AX30 Palletizing Solution...
Page 88 Example 2: The TCP has been set at the center on top of a single box; the robot can be instructed to offset the box center so that it corresponds to the target center on top of two boxes combined. Enter the X and Y values in the corresponding fields. AX20/AX30 Palletizing Solution...
Page 89 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. Fig. 5-16: Depiction of Gripper Rotations Based on the Option to Pick Up Boxes From Different Angles AX20/AX30 Palletizing Solution...
Page 90 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. Fig. 5-17: Perpendicular Conveyor Configuration Fig. 5-18: Custom Conveyor Configuration Fig. 5-20: Right-to-Left Parallel Conveyor Configuration Fig. 5-19: Left-to-Right Parallel Conveyor Configuration AX20/AX30 Palletizing Solution...
Page 91 It is the responsibility of the user to select the pallet(s) to process based on the application and layout of the palletizing cell. Refer to the diagram and select which pallet (left and/or right) you want to palletize or depalletize. Tick both boxes to process both the left and right pallets. AX20/AX30 Palletizing Solution...
Page 92 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. AX20/AX30 Palletizing Solution...
Page 93 Tap the Edit button under the name of a layer pattern to bring up the Pattern editing menu. 2. Add Pattern Tap the Add Pattern button to add a layer pattern to the list. 3. Duplicate Pattern If applicable, tap the Duplicate icon to open the duplication menu. AX20/AX30 Palletizing Solution...
Page 94 What can be called the origin (0,0) in the pallet diagram is actually the top left corner of the pallet. And so, since the user can modify the coordinates of the active box, going left to right increases the X value, and going top to bottom increases the Y value. AX20/AX30 Palletizing Solution...
Page 95 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. AX20/AX30 Palletizing Solution...
Page 96 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. AX20/AX30 Palletizing Solution...
Page 97 On the left-hand side of the screen, the lowest number is the closest to the pallet while the highest number is the farthest from the pallet. NOTICE 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. AX20/AX30 Palletizing Solution...
Page 98: Linear Axis Move Node
The Linear axis move node can be used to move the linear axis to a specific position. It can be used inside or outside the Palletizer node. Fig. 5-27: Linear Axis Move Node - Command Window AX20/AX30 Palletizing Solution...
Page 99: Use Of Force Sensing For Heavy Payloads
Subsequently, the robot lowers the box vertically until it either reaches the target position or establishes contact with the pallet. This approach is designed to address and compensate for inaccuracies in both the grip of the box and its placement, ensuring a more reliable and efficient palletizing process. AX20/AX30 Palletizing Solution...
Page 100: Program Tree
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. AX20/AX30 Palletizing Solution...
Page 101: Palletizer Node With Multi-Pick Feature
The simultaneous signaling of each individual sensor will then combine into one signal that will be interpreted by the robot as an instruction to pick the grouped boxes (i.e., the double box type). Fig. 5-30: Palletizer Node With Multi-Pick Feature AX20/AX30 Palletizing Solution...
Page 102 6. In the dropdown menu, select the digital output that has been connected to a digital input (please refer to the if this step has not been completed yet). Fig. 5-32: Set Node in the Thread Node AX20/AX30 Palletizing Solution...
Page 103 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). Fig. 5-34: If node in the Grip node AX20/AX30 Palletizing Solution...
Page 104 6. Select the Set node and tick the Set Digital Output radio button in the Command window. 7. Expand the dropdown menu. 8. Select the digital output to which the gripper in the If node is assigned. AX20/AX30 Palletizing Solution...
Page 105 21. Go to Program>Basic and insert two Set nodes. 22. In the first Set node, tick the Set Digital Output radio button 23. Expand the dropdown menu. 24. Select a digital output to which one of the grippers is assigned. AX20/AX30 Palletizing Solution...
Page 106: Program Start - Pallet Viewer
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. AX20/AX30 Palletizing Solution...
Page 107 The Ignored state can be selected to instruct the robot not to process the pallet. Even if the user chose to palletize both the left and right pallets in the Pallet Menu section, ticking this radio button will prevent the Palletizer from processing the corresponding pallet. AX20/AX30 Palletizing Solution...
Page 108: Palletizing Script Functions For Advanced Users
A complete description of every available function is available in a PDF file named PalAdvancedProgrammingFunctions.pdf. It is packaged in the same compressed folder (ZIP) as the Copilot URCap which can be downloaded from the Robotiq support website. AX20/AX30 Palletizing Solution...
Page 109: Safety Devices
6.2. Nomenclature 6.2.1. Controller Overview The figure below is a configuration diagram of the Robotiq control box. The portion in the red frame is where the safety connections will be made in the following subsections. Fig. 6-1: Configuration Diagram of the Robotiq Control Box with the Safety Connection Section Highlighted (Red)
Page 110: Terminal Bank
Terminal bank -X20 is built with two-level terminal blocks. Terminal bank -X21 is built with a combination of two-level terminal blocks and three-level terminal blocks. The figure below depicts the allocated connection of two-level and three-level terminal blocks. AX20/AX30 Palletizing Solution...
Page 111: Connections
6.3. Connections NOTICE The information in this section is valid for the PAL-AE07-1.1.0 Robotiq control box. The version of the Robotiq control box is displayed on its nameplate. If the version differs, refer to the electrical schematics available at support.robotiq.com.
Page 112 9. Connect the 0 V wire to an empty connection on terminal bank -X20, level 1 (e.g., -X20.1.1). The result should like the figure below. Fig. 6-6: Example of OSSD Signals Connections 10. Close the Robotiq control box. AX20/AX30 Palletizing Solution...
Page 113: Safety Devices With Dry Contacts
Follow the instructions below to integrate safeguard devices using 24 V power supply (e.g., door switch, limit switch). CAUTION Shut down the robot and power off the Robotiq control box before making inter-controller and safety signal connections. 1. Open the Robotiq control box.
Page 114 8. Close the Robotiq control box. External Emergency Stop Button CAUTION Shut down the robot and power off the Robotiq control box before making inter-controller and safety signal connections. 1. Open the Robotiq control box. 2. Run the safety device cable inside via the cable gland under the Robotiq control box.
Page 115 7. Connect the ends of the second pair of wires (contact #2), each to a contact point, i.e., where the ends of the second jumper were initially located (-X21.22.1 and -X21.22.2). The result should look like the figure below. Fig. 6-12: Example of External Emergency Stop Button Connections 8. Close the Robotiq control box. AX20/AX30 Palletizing Solution...
Page 116 3. On terminal bank -X21, locate the terminal block that corresponds to the External Safeguard Reset Button. The 5 terminal block (Safety relay IN5) is allocated to the Robotiq push-button enclosure Safeguard Reset Button. The 6 th terminal block (Safety relay IN6) is allocated to an optional 2 Safeguard Reset button.
Page 117: Specifications
Fig. 7-1: Linear Axis Base with Control Box- Technical Dimensions 7.1.2. PowerPick20/30 Vacuum Gripper (Optional) For the technical dimensions of the PowerPick20/30 Vacuum Gripper, please refer to the Technical Dimensions section of the PowerPick20/30 user manual, available at support.robotiq.com. AX20/AX30 Palletizing Solution...
Page 118: Mechanical Specifications
Maximum pallet height (filled) depend on your box dimensions and pallet configuration. Use the Robotiq Configurator to validate the combination. Refer to the pneumatic diagram. Maximum box throughput depends on box weight, box dimensions, box surface, pallet dimensions, and pallet layout. Use the Robotiq Configurator to validate the combination.
Page 119: Powerpick20/30 Vacuum Gripper (Optional)
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 120 Fig. 7-2: System Overview - High Level AX20/AX30 Palletizing Solution...
Page 121 AX20/AX30 Palletizing Solution...
Page 122: Periodic Inspection And Maintenance
The prescribed lifetime of the equipment. The safe operation of the equipment WARNING Take all safety measures during maintenance operations on the Robotiq Palletizing Solution. Please refer to the Safety section for additional information. CAUTION Always turn off the Palletizing Solution and depressurize the air supply tube before performing any maintenance operation.
Page 123 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, but make sure to secure against reconnection.
Page 124: Spare Parts, Kits And Accessories
1 x Cable PAL-BOX-SENS-KIT Solution 1 x Mounting Bracket 9.1. PowerPick20/30 (Optional Gripper) Spare Parts & Accessories Refer to the Spare Parts, Kits and Accessories section of the PowerPick User Manual (support.robotiq.com) for more information. AX20/AX30 Palletizing Solution...
Page 125: Troubleshooting
Increase box width and/or box length are rounded. value. Inspect Pallet viewer at program start Pallet viewer does display and confirm the virtual layout actual pallet state. matches the actual layout. Pallet height value is low. Increase the pallet height value. AX20/AX30 Palletizing Solution...
Page 126 The robot may have reached a singularity or be close to reaching a singularity. Move the robot to the Home position and restart the program. If none of the above steps solve the issue, please contact support@robotiq.com. AX20/AX30 Palletizing Solution...
Page 127 Verify that the box presence misused or not connected. input is active when a box is at the picking position. Power off the Robotiq control box, Multiple possible causes. then back on. The Robotiq box to UR Inspect the connections. Please refer controller cable is not properly to the Safety Connections section.
Page 128: Powerpick20/30 Vacuum Gripper (Optional)
Robotiq, otherwise the warranty will be void. For more information on troubleshooting the PowerPick20/30 Vacuum Gripper, please refer to the Troubleshooting section of the PowerPick20/30user manual, available at support.robotiq.com. If necessary, send an inquiry to the support team at : support@robotiq.com. AX20/AX30 Palletizing Solution...
Page 129: 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 130 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 131: Harmonized Standards
966 Chemin Olivier, Suite 500 Lévis, Québec, Canada, G7A 2N1 hereby declares, under sole responsibility, that the product: Robotiq Palletizing Solution – AX Series (AX10 & AX20/AX30) All serial number (and accessories) complies with the following essential requirements of the European Directive 2006/42/EC on machinery: 1.1.2, 1.1.3, 1.1.5, 1.2.1, 1.2.3, 1.2.4.3, 1.2.6, 1.3.1, 1.3.2, 1.3.4, 1.3.8.1, 1.3.9, 1.5.1, 1.5.5, 1.5.6, 1.6.1, 1.6.3, 1.7.1, 1.7.2, 4.1.2.3...
Page 132: Powerpick20/30 Vacuum Gripper (Optional)
The relevant technical documentation is compiled in accordance with part B of Annex VII of Directive 2006/42/EC and will be presented electronically by the manufacturer to competent national authorities, if required with a substantiated reason. Signed in Lévis on 2024-07-12. Louis-Alexis Allen Demers, ing., Eng., Ph. D. Technical Director AX20/AX30 Palletizing Solution...
Page 133: Identification Plate
The following identification plate is riveted to the bottom of the Solution's base, conveyor side. 12.3. EtherCAT® Master The Robotiq Copilot URCap hosts an EtherCAT® master to control the linear axis drive. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Page 134: Appendix
13. Appendix 13.1. Palletizing Cell Layout Fig. 13-1: AX20 Palletizing Cell Layout - Top View AX20/AX30 Palletizing Solution...
Page 135 Fig. 13-2: AX30 Palletizing Cell Layout - Top View AX20/AX30 Palletizing Solution...
Page 136 Fig. 13-3: AX20 Palletizing Cell Layout - Side View AX20/AX30 Palletizing Solution...
Page 137 Keep this zone free of obstacles. Conveyors, safety features and other physical devices should not enter this zone. A distance of 250 mm corresponds to the approach distance for boxes of 600 x 400 x 400 mm. AX20/AX30 Palletizing Solution...
Page 138: Conveyor Positioning Holes
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 139 AX20/AX30 Palletizing Solution...
Page 140: Overhang Spacers
13.3. Overhang Spacers AX20/AX30 Palletizing Solution...
Page 141: Pneumatic Diagram
13.4. Pneumatic Diagram AX20/AX30 Palletizing Solution...
Page 142: 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 AX20/AX30 Palletizing Solution...

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