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Related Manuals for ROBOTIQ AX20
Summary of Contents for ROBOTIQ AX20
- Page 1 AX20/AX30 Robotiq Palletizing Solution INSTALLATION GUIDE X-990135-A...
- Page 2 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 Robotiq AX20 / AX30 Palletizing Solution...
- Page 3 1 x Mounting bracket and filter-regulator assembly ● 1 x M12 12-pin I/O cable (3 m) ● 1 x PowerPick20/30 Vacuum Gripper (default configuration) ● 1 x Large suction cup bracket assembly ● Air tubing ● Tools and hardware for installation on AX20/30 ●...
- Page 4 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 5 Installation hazard: DO NOT install this equipment without having read and understood the ● Robotiq AX20/AX30 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/UR30.
- Page 6 Place the base on shims with a thickness of at least 10 mm (3/8 mm). Use the wooden supports if needed. Remove the two (2) L-shaped aluminum brackets using a 16 mm wrench. Remove all cardboard boxes and the operator station from the crate. Remove the removable stopper from the crate and install it on the base using the six (6) M12 x 30 mm hex cap screws.
- Page 7 Unscrew the two (2) bolts that hold the column to the crate and remove the straps. Lifting the foot base will create a pivot point at the other end of the linear axis. Make sure not to damage the status lights at the top of the linear axis. Using the sling attached at the top of the column, lift and place the column onto the base.
- Page 8 MECHANICAL & ELECTRICAL INSTALLATION Main steps Robot Installation Control Box Installation Pneumatic Tubing Installation Grounding E. Power and Control Connections F. Inter-Controller Connections G. Safety Signal Connections H. Operator Station Installation I. Centering the Solution J. Vacuum Generation Unit Installation (only for models equipped with gripper (only for models equipped with gripper) K.
- Page 9 A. Robot Installation 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 for the robot to be properly mounted to the Solution.
- Page 10 7. Power OFF the robot, disconnect the controller and disconnect the robot cable at both ends. If the original UR power cable provided with the robot was used to connect the control box to the outlet, put it aside. Do not use the UR power cable to power the whole Palletizing Solution.
- Page 11 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. Do NOT connect the power cable of the UR control box to the UR control box. The original UR control box power cable should never be used with the AX20/AX30 Palletizing Solution.
- Page 12 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...
- Page 13 Robotiq Control Box 1. Push the grounding cable of the Robotiq control box into the column via hole #5 and connect it to the ground stud inside the base. 2. Make sure that the eyelet connectors of all three (3) components are on the ground stud, in between the two lock washers;...
- Page 14 3. Connect the robot cable to the UR control box. 4. Connect the power cable provided with the Solution to the Robotiq control box. Do not use the original UR power cable. 5. Insert the power cable through hole #5.
- Page 15 4. Connect the USB-to-Ethernet adapter cable to a USB port of the USB hub. 5. Connect the Ethernet cable into the Ethernet socket on top of the Robotiq control box. 6. Push the other end of the Ethernet cable through the hole under the UR control box and connect it to the USB-to-Ethernet adapter cable that is already connected.
- Page 16 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. If needed, use the preinstalled fishing line to pull the cable through.
- Page 17 12. Take the box sensor cable rolled inside the column, next to the linear axis motor, and route it out of the base, through the rectangular hole. G. Safety Signal Connections 1. Run the safety I/O cable harness (W103) through an opening under the UR control box. 2.
- Page 18 Reserved GNYE Ground H. AX20/AX30 Operator Station Installation If the Solution needs to be moved frequently, the operator station has to be located accordingly rather than anchored to the ground. Make sure that the operator station is located so that it does not interfere with the opening of the control box.
- Page 19 4. Loosen the four (4) screws that secure the column to the base. Unscrewing the screws half a turn counterclockwise should prove enough clearance to allow for the adjustment of the column’s orientation. 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.
- Page 20 9. Remove the M16 x 40 screws, one at a time, apply threadlocker to the threaded part of the screws, and retighten to 150 Nm (111 lb-ft). 10. Confirm that the wrist is still in contact with the painted surface on the side of the base. 11.
- Page 21 13. Tuck any excess cable inside the column. To complete the electrical connection of the PowerPick20/30 Vacuum Generation Unit, please refer to the Electrical Installation section of the PowerPick20/30 user manual available at robotiq.com/support. K. Vacuum Gripper Installation On the teach pendant : Installation tab >...
- Page 22 Install the Manifold directly on the robot wrist (no coupling required). Align with the dowel pin on the robot wrist. Secure the manifold onto the robot wrist with one (1) M8 shoulder screw using the provided 6 mm hex key. Required torque is 16 Nm (11.8 lb-ft).
- Page 23 3. Enter the appropriate center of mass and TCP of the Gripper. The TCP and center of mass of the PowerPick20/30 Vacuum Gripper can be found in the Tool Center Point and Center of Mass section of the PowerPick20/30 user manual available at robotiq.com/support. M. Cable Management System 1. Robot Positioning Move the robot to the Cable management installation position (Installation tab >...
- Page 24 The cable tie should go through 2 hoops, and the tubing should be laying flat approximately at the center of the plastic mount. Attach the tubing to a cable clip for the next three (3) metallic marks. ● Open the cable entry frame by unscrewing the two screws on the side of the frame. ●...
- Page 25 Place the tubing curler on top of the tubing, as depicted in the figure above. ● 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). Use the three provided cable ties (red components in the figure above) to secure the ●...
- Page 26 N. Box Sensor Installation Box Sensor (Single Box Type) Connect the wires to the terminal blocks of the robot control box: Connect the brown wire to a 24 V terminal in a Digital Inputs block. ● Connect the blue wire to a 0 V terminal in a Configurable Outputs block. ●...
- Page 27 O. Push Button Enclosure Connections 1. Route the push button enclosure cable harness (W102) from the teach pendant post to the opening under the Robotiq control box via hole #4. 2. Connect the push button enclosure cable plug to the push button enclosure socket (W102) located under the Robotiq control box.
- Page 28 6. Slowly and carefully move the Solution to its final location. Q. Anchoring the Solution The Robotiq Palletizing Solution must be anchored for it to be used. Make sure to follow all safety rules and regulations of your workplace while working with the Solution.
- Page 29 Minimum AX20/AX30 required anchors strength (static and fatigue loading) Anchor Group Loading Condition Shear (N) Tension (N) Maximum static load (Safeguard and emergency Stops) 2716 2350 Conveyor side Fatigue 285k cycles per 6 years (Safeguard Stops 1727 1986 Fatigue 25M cycles per 6 years (Normal Operation)
- Page 30 Reinstall the cable compartment cover using the six (6) provided screws. Connect the power cable to the power outlet. Pressurize the system using the shut-off valve if needed. Turn ON the main power switch located on the Robotiq control box. Power ON the robot. SOFTWARE & OTHER INFORMATION...
- Page 31 Appendix A - Recommended layout (top view)
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