ROBOTIQ PALLETIZING SOLUTION AX Series Manuale utente

Robotiq Palletizing Solution - AX Series

for Universal Robots

Instruction Manual

ROBOTIQ PALLETIZING

SOLUTION

AX Series

robotiq.com | leanrobotics.org

Original Notice

Palletizing Solution - Instruction Manual

Table of Contents

Revisions 5

1. General Presentation 8

1.1. Palletizing Solution Components 8

1.2. Object Picking 12

1.3. Palletizing Operation Diagrams 13

2. Safety 15

2.1. Disclaimer 15

2.2. Intended Use 16

2.3. Warnings, Risk Assessment and Final Application 17

3. Installation 22

3.1. Scope of Delivery 23

3.2. Required Tools and Equipment 24

3.3. Environmental and Operating Conditions 25

3.4. Mounting and Installation 26

3.5. Other Grippers 49

3.6. Installation for Universal Robots 51

3.7. URCap Package 51

3.8. Robot Configurations 57

3.9. License Agreement 60

4. Operation 63

4.1. Starting Up 63

4.2. Light States 64

5. Software 66

5.1. Installation on e-Series Universal Robots 66

5.2. Palletizing Script Functions 78

5.3. Vacuum Gripper Behavior 82

5.4. AirPick Vacuum Control over Universal Robots with URCaps 82

6. Specifications 83

6.1. Technical Dimensions 83

6.2. Mechanical Specifications 88

6.3. Electrical Specifications 92

7. Maintenance 95

7.1. Linear Axis 96

7.2. Fasteners 97

7.3. AirPick Vacuum Gripper 98

7.4. Cleaning 99

7.5. Solution Storage 99

8. Spare Parts, Kits and Accessories 100

9. Troubleshooting 101

9.1. Palletizing Solution (except the AirPick Gripper) 101

9.2. AirPick Vacuum Gripper 105

10. Warranty 108

11. Harmonized Standards 110

11.1. Applied Standards 110

11.2. EC Declaration of Incorporation 111

12. Appendix 112

12.1. Anchoring Pattern 112

12.2. Safety Connections 113

13. Contact 115

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 is made, the manual will also be revised, see revision information. See the latest version of this

manual online at: support.robotiq.com.

2022/04/25

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

lAdded Add virtual planes around 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 Limits section

2022/02/03

lAdded Physical Clearance and Reachable Area of the Robot section

lUpdated Safety Connections section

2022/01/04

lAdded script functions

lUpdated Installation on Universal Robots e-Series section

lThe palletizer model is now named AX Series

2021/10/07

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

2021/09/22

lUpdated Safety Connections Appendix

lPink wire is now orange

lUpdated Safety section to add information regarding Reduced mode

lUpdated Software section with more details for 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 Specifications section (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 Warranty section

lUpdate of the Installation section with new cable management instructions

lUpdate of Spare Parts, Kits and Accessories section

2021/03/29

lUpdate of the Software section: label orientation option added.

lUpdate of the Specifications section

lUpdate of the Installation section (Robot configurations)

2020/12/16

lUpdate of the safety section

lUpdate of the installation section

lUpdate of the specifications section

2020/11/30

Update of the Installation section.

2020/11/25

Initial release

Palletizing Solution - Instruction Manual

This manual and the product it describes are protected by the Copyright Act of Canada, by laws of 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 includes translation into another language or format.

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.

The information contained in this document is subject to change without notice.

Palletizing Solution - Instruction Manual

1. General Presentation

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

to the AX Series Robotiq Palletizing Solution. The AX Robotiq Palletizing Solution is a 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. An extra

reach gripper bracket is also included in the Solution to extend the reach of an end-of-arm tool of 200 mm from the robot's tool

flange. 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 uses the metric system. Unless specified, all dimensions are in millimeters.

1.1. Palletizing Solution Components

Info

The following section presents the key features of the Robotiq Palletizing Solution and must not be considered as

appropriate to the operation of the Solution. Each feature is detailed in the appropriate section.

1.1.1. Base and Column

The Robotiq Palletizing Solution is composed of a base and a column on which all the components that are necessary to the good

operation of the Solution are attached. The Solution is designed to facilitate the positioning of pallets. The base has to be anchored

to the floor. For more details, please refer to the Installation section

1.1.2. Linear Axis

To extend the reach of the robot, a linear axis is installed inside the column. It allows the robot to move vertically in order to build

high pallets.

1.1.3. Linear Axis Controller

All the components of the Solution are integrated and controlled via the linear axis Controller. It allows for the simultaneous motion

of both the axis and the robot during a palletizing action, and the control of the pallet sensors and status lights.

1.1.4. Pallet Sensors

The Solution is composed of four (4) sensors to detect pallets presence (two per pallet). The sensors will allow the Solution to

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

1.1.5. Status Lights

Two (2) status lights are positioned at the top of the base. Each status light is associated to the nearest pallet. The color of the light

gives information on the status of the system or the state of a specific pallet. Please refer to the Light States section for more

information.

1.1.6. AirPick Vacuum Gripper

The AirPick is a Vacuum Gripper that creates a vacuum via a pneumatic vacuum generator. It is equipped with one or multiple

suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper is compatible with the

Robotiq standard coupling interface.

Palletizing Solution - Instruction Manual

Fig. 1-1: Robotiq AirPick Gripper

1.1.7. Suction Cup System

A Robotiq Suction Cup System can be installed directly under the Vacuum Gripper. Each Robotiq Suction Cup System includes a

bracket, a manifold, air nodes, port plugs, bumpers, tubing and additional suction cups.

Fig. 1-2: Suction cup system

Info

Please refer to the Installation section for more information on how to integrate the Suction Cup System to the AirPick.

Tip

The owner can use a custom bracket or a mounting plate. The bracket or mounting plate can be installed directly under

the manifold.

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