ROBOTIQ AX Series Manuale utente

Robotiq PalletizingSolution - AX Series

for Universal Robots

Instruction Manual

ROBOTIQ PALLETIZING SOLUTION

AX Series

robotiq.com | leanrobotics.org

Original Notice

Palletizing Solution - Instruction Manual

Tableof Contents

Revisions 5

1. General Presentation 9

1.1. Palletizing SolutionComponents 9

1.2. Palletizing OperationDiagrams 11

2. Safety 13

2.1. Disclaimer 13

2.2. Intended Use 14

2.3. Warnings, RiskAssessment and Final Application 15

3. Installation 20

3.1. Scope of Delivery 21

3.2. Required Toolsand Equipment 22

3.3. Environmental and Operating Conditions 23

3.4. Mounting and Installation 24

3.5. OtherGrippers 46

3.6. InstallationforUniversal Robots 48

3.7. URCap Package 48

3.8. Robot Configurations 55

3.9. License Agreement 58

4. Operation 61

4.1. Starting Up 61

4.2. Light States 62

5. Software 64

5.1. Installation 64

5.2. MultipickFeature 66

5.3. Program 66

5.4. Wiring the MultipickFeature 85

5.5. Palletizing Script Functions 86

6. Specifications 91

6.1. Technical Dimensions 91

6.2. Mechanical Specifications 92

6.3. Electrical Specifications 96

7. Maintenance 99

7.1. LinearAxis 100

7.2. Fasteners 101

7.3. PowerPickVacuum Gripper 102

7.4. Cleaning 102

7.5. SolutionStorage 102

8. Spare Parts, Kitsand Accessories 103

9. Troubleshooting 105

9.1. Palletizing Solution(except the PowerPickGripper) 105

9.2. PowerPickVacuum Gripper 109

10. Warranty 110

11. Harmonized Standards 112

11.1. Applied Standards 112

11.2. EC Declarationof Incorporation 113

12. Appendix 114

12.1. Anchoring Pattern 114

12.2. SafetyConnections 115

13. Contact 117

Palletizing Solution - Instruction Manual

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in

specifications. If such modification ismade, the manual will also be revised, see revision information. See the latest version of this

manual online at: support.robotiq.com.

2023/01/31

lAirPick Gripper isreplaced by PowerPick Gripper. Sectionsare modified accordingly.

lMultipick feature added in Software section.

lScript "Get Current Box Type" added in Software section.

lBox sensor(s)subsection modified in Installation section.

2022/11/22

lCable management installation improved (Installation section).

lLink for action associated to red slow blink light modified (Operation section).

lLink for action associated to yellow solid light modified (Operation section).

lImagesof Configurable Outputsmodified (Installation section).

2022/10/03

lLinear AxisMove imagesmodified (Software section).

lMaximum value for Elbow joint limit changed from 0° to 3°. Minimum and maximum valuesfor Wrist 3 joint limitschanged from -

270° to -273° and 270° to 273° (Installation section).

lCable management material and installation modified (Installation section).

lCable management spare partsremoved (Spare Parts, Kitsand Accessoriessection).

2022/04/25

lAdded warning note for Moving and Positioning the Solution (Installation section).

lAdded ''Add virtual planesaround pallet(s)'' option (Installation and Software sections).

lAdded an ''Avoid collision with conveyor'' option in the Palletizer node and the different configurations(Software section).

lAdded scripts''Get Pallet State'' and ''Set Palletizer State'' in Software section.

2022/03/28

lAdded Robot Limitssection

2022/02/03

lAdded Physical Clearance and Reachable Area of the Robot section

lUpdated SafetyConnectionssection

2022/01/04

lAdded script functions

lUpdated Installation on Universal Robotse-Seriessection

lThe palletizer model isnow named AX Series

2021/10/07

lUpdated Center of mass, tool center point (TCP)table

2021/09/22

lUpdated Safety ConnectionsAppendix

lPink wire isnow orange

lUpdated Safety section to add information regarding Reduced mode

lUpdated Software section with more detailsfor the pick position

2021/08/03

lUpdate of the Software section

lAdded Depalletizing mode to Palletizer node

lUpdated info on the Limit height for Palletizer program node

lAdded section 5.2(Palletizing script functions)

2021/07/14

lUpdate of the Specificationssection (Center of mass, tool center point table)

lUpdate of the Appendix section (Safety Connections)

lUpdate of the Software section

lUpdate of the Troubleshoot section

lUpdate of the Warrantysection

lUpdate of the Installation section with new cable management instructions

lUpdate of Spare Parts, Kitsand Accessoriessection

2021/03/29

lUpdate of the Software section: label orientation option added.

lUpdate of the Specificationssection

lUpdate of the Installation section (Robot configurations)

2020/12/16

lUpdate of the safety section

lUpdate of the installation section

lUpdate of the specificationssection

Palletizing Solution - Instruction Manual

2020/11/30

Update of the Installation section.

2020/11/25

Initial release

Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof other countries, and by

international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written

consent from Robotiq. Under copyright law, copying includestranslation into another language or format.

Information provided by Robotiq in thisdocument isbelieved to be accurate and reliable. However, no responsibility isassumed

by Robotiq for itsuse. There maybe some differencesbetween the manual and the product if the product hasbeen modified after

the edition date.

The information contained in thisdocument issubject to change without notice.

Palletizing Solution - Instruction Manual

1.GeneralPresentation

The terms Palletizer,Palletizing Solution,Robotiq Palletizing Solution,Solution and AX Series used in this manual all refer to the

AX SeriesRobotiq Palletizing Solution. The AXRobotiq Palletizing Solution isa hardware and software solution already connected

and ready to install. It is composed of a base fully integrated with a linear axis, pallet sensors, and status lights. The Material

Handling Copilot software and accessories (e.g., box sensor, anchor kit, cable management system, etc.) are also part of the

Solution.

Info

The following manual usesthe metric system. Unlessspecified, all dimensionsare in millimeters.

1.1.PalletizingSolutionComponents

Fig. 1-1: AXSeriesRobotiq Palletizing Solution

Info

The following section presentsthe keyfeaturesof the Robotiq Palletizing Solution and must not be considered as

appropriate to the operation of the Solution. Each feature isdetailed in the appropriate section.

1.1.1.BaseandColumn

The Robotiq Palletizing Solution iscomposed of a base and a column on which all the componentsthat are necessaryto the good

operation of the Solution are attached. The Solution isdesigned to facilitate the positioning of pallets. The base hasto be

anchored to the floor. For more details, please refer to the Installationsection

1.1.2.LinearAxis

To extend the reach of the robot, alinear axisisinstalled inside the column. It allowsthe robot to move vertically in order to build

high pallets.

1.1.3.LinearAxisController

All the componentsof the Solution are integrated and controlled viathe linear axisController. It allowsfor the simultaneous

motion of both the axisand the robot during a palletizing action, and the control of the pallet sensorsand statuslights.

1.1.4.Pallet Sensors

The Solution iscomposed of four (4)sensorsto detect palletspresence (two per pallet). The sensorswill allow the Solution to

ensure that the palletsare well positioned on each side of the base to optimize the application process.

1.1.5.StatusLights

Two (2)statuslightsare positioned at the top of the base. Each statuslight isassociated to the nearest pallet. The color of the light

givesinformation on the statusof the system or the state of a specific pallet. Please refer to the Light Statessection for more

information.

1.1.6.PowerPickVacuumGripper(Optional)

The PowerPick isa Vacuum Gripper that createsavacuum with aventuri system that usescompressed air asan energy source.It

comeswith itsexternal controller, isequipped with multiple suction cupsand interchangeable components. Itsdesign is

optimized (weight, payload capability)for the Palletizing Solution when used with a UR10e robot.

Fig. 1-2: Robotiq PowerPick Gripper and Controller

Altri manuali per AX Series

Indice

Altri manuali ROBOTIQ Robotica

ROBOTIQ

ROBOTIQ AX10 Manuale utente

ROBOTIQ

ROBOTIQ EPick Manuale utente

ROBOTIQ

ROBOTIQ PE20 Manuale utente

ROBOTIQ

ROBOTIQ AX Series Manuale utente

ROBOTIQ

ROBOTIQ S Model Manuale utente

ROBOTIQ

ROBOTIQ 2-Finger 85 Manuale utente

ROBOTIQ

ROBOTIQ FT 300-S Manuale utente

ROBOTIQ

ROBOTIQ 56854B Manuale utente

ROBOTIQ

ROBOTIQ AirPick Vacuum Gripper Manuale utente

ROBOTIQ

ROBOTIQ 2F-85 Manuale utente

ROBOTIQ

ROBOTIQ Finishing Kits Manuale utente

ROBOTIQ

ROBOTIQ PE20 Manuale utente

ROBOTIQ

ROBOTIQ ETF-CB-UR-KIT Manuale utente

ROBOTIQ

ROBOTIQ 2F-85 Manuale utente

ROBOTIQ

ROBOTIQ 2F-85 Manuale operativo e di manutenzione

ROBOTIQ

ROBOTIQ AirPick Manuale utente

ROBOTIQ

ROBOTIQ HAND-E Manuale operativo e di manutenzione

ROBOTIQ

ROBOTIQ Gripper Manuale utente

ROBOTIQ

ROBOTIQ Wrist Camera Manuale utente

ROBOTIQ

ROBOTIQ PALLETIZING SOLUTION Manuale operativo e di manutenzione

ROBOTIQ

ROBOTIQ UR3 Manuale utente

ROBOTIQ

ROBOTIQ POWERPICK20 Manuale operativo e di manutenzione

ROBOTIQ

ROBOTIQ HAND-E Manuale utente

ROBOTIQ

ROBOTIQ HAND-E Manuale utente

Manuali Robotica popolari di altre marche

STEMCenter USA

STEMCenter USA Pi-Bot v2.00 Manuale utente

SunFounder

SunFounder PiDog Manuale utente

Universal Robots

Universal Robots UR5 Manuale utente

Universal Robots

Universal Robots E Series Manuale utente

YASKAWA

YASKAWA MOTOMAN-MPL80 II Manuale utente

EFORT

EFORT ECR5 Manuale di istruzioni

Epson

Epson C8 Series Manuale utente

WowWee

WowWee ROBOQUAD Manuale utente

Milvus Robotics

Milvus Robotics SEIT 100 Manuale utente

RoboMaster

RoboMaster AI Robot 2020 Standard Version Manuale utente

fischertechnik

fischertechnik Mini Bots Manuale utente

YASKAWA

YASKAWA MA2010 Manuale

Abicor Binzel

Abicor Binzel iCAT mini Manuale utente

ABB

ABB OmniCore E10 Manuale utente

YASKAWA

YASKAWA Motoman DX200 Manuale utente

pitsco

pitsco Tetrix Max Manuale utente

ECOVACS

ECOVACS DEEBOT R95 Manuale utente

Feng Yuan

Feng Yuan Interstellar Warrior Manuale utente