ROBOTIQ PALLETIZING SOLUTION Operation and maintenance manual

Robotiq PalletizingSolution

for Universal Robots

Instruction Manual

ROBOTIQ PALLETIZING SOLUTION

robotiq.com | leanrobotics.org

Original Notice

Revisions 4

1. GeneralPresentation 6

1.1. Palletizing SolutionComponents 6

1.2. Object Picking 10

1.3. Palletizing OperationDiagrams 11

2. Safety 13

2.1. Disclaimer 13

2.2. IntendedUse 14

2.3. Warnings, riskassessment and finalapplication 15

3. Installation 19

3.1. Scope of Delivery 20

3.2. RequiredToolsand Equipment 21

3.3. Environmentaland Operating Conditions 22

3.4. Mounting and Installation 23

3.5. OtherGrippers 47

3.6. InstallationforUniversalRobots 49

3.7. URCap Package 49

3.8. License Agreement 55

4. Operation 58

4.1. Starting Up 58

4.2. LightsStates 58

5. Software 61

5.1. InstallationonUniversalRobotse-Series 61

5.2. VacuumGripperbehavior 70

5.3. AirPickVacuum controloverUniversalRobotswithURCaps 70

6. Specifications 71

6.1. Technicaldimensions 71

6.2. Mechanicalspecifications 76

6.3. Electricalspecifications 79

7. Maintenance 82

7.1. LinearAxis 83

7.2. Fasteners 84

Palletizing Solution -InstructionManual

7.3. AirFilterCleaning 84

7.4. AirPickVacuum Gripper 84

7.5. SolutionCleaning 85

7.6. SolutionStorage 85

8. Spare Parts, Kitsand Accessories 86

9. Troubleshooting 87

9.1. Palletizing Solution(except the AirPickGripper) 87

9.2. AirPickVacuum Gripper 88

10. Warranty 91

11. Harmonized Standards 93

11.1. Applied standards 93

12. Appendix 94

12.1. Anchoring pattern 94

12.2. SafetyConnections 95

13. Contact 97

Revisions

Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin

specifications.If such modification ismade,themanual will also berevised,seerevision information.Seethe latest versionof this

manual onlineat:support.robotiq.com.

2020/12/16

lUpdateof thesafetysection

lUpdateof theinstallationsection

lUpdateof thespecificationssection

2020/11/30

Updateof theInstallationsection.

2020/11/25

Initial release

Palletizing Solution -InstructionManual

Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational

treaties,and therefore may not be reproduced inwhole or inpart, whether for saleornot,without prior writtenconsent from Robotiq.

Undercopyright law,copying includestranslation into anotherlanguage orformat.

Informationprovided byRobotiq inthisdocument isbelieved to be accurateand reliable.However,no responsibilityisassumed by

Robotiq for itsuse.Theremaybe somedifferencesbetween themanual and theproduct if theproduct hasbeenmodified afterthe

editiondate.

Theinformationcontained inthisdocument issubject to change without notice.

1.General Presentation

The terms '' Palletizing'', ''Palletizing Solution'' and ''Solution'' used in the following manual all refer to the Robotiq Palletizing Solution.

The Robotiq Palletizing Solution is a hardware and software solution already connected and ready to install. It is composed of a base

fully integrated with the linear axis, pallet sensors and status lights. The extra reach gripper bracket is also included in the Solution to

extend the AirPick Gripper of 200 mm from the robot tool flange.The Material Handling Copilot and accessories such as a box sensor,

an anchor kit and acable management system are partsof the Solution.

Info

The following manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.

1.1.PalletizingSolutionComponents

Palletizing Solution -InstructionManual

Info

Thefollowing sectionpresentsthekeyfeaturesof theRobotiq Palletizing Solutionand must not be considered as

appropriateto theoperationof theSolution.Eachfeatureisdetailed intheappropriate section.

1.1.1.Base andColumn

The Robotiq Palletizing Solutioniscomposed of a base and a columnonwhichall thecomponentsthat are necessaryto thegood

operationof the Solutionareattached.Itsgeometryisdesigned to facilitatethepositioning of theRight and Left palletswithout any

surrounding obstructions.The base hasto beanchored inthefloor.Formoredetails,pleasesee the Installationsection

1.1.2.LinearAxis

To extend thereachof therobot,alinearaxisisinstalled insidethecolumn.It allowstherobot to moveverticallyinorderto build high

pallets.

1.1.3.LinearAxisController

All thecomponentsof theSolution areintegrated and controlled viathelinearaxiscontroller.It allowssimultaneousmotionof theaxis

and therobot during palletizing motion.

1.1.4.Pallet Sensors

TheSolution iscomposed of four(4)sensorsto detect palletspresence(two perpallet).Thesensorswill allowtheSolutionto ensure

that the palletsarewell positioned oneach side of thebase to optimize theapplication process.

1.1.5.StatusLights

Two (2)statuslightsarepositioned onthetop of thebase.Eachstatuslight isassociated to thenearest pallet.Thecolorof thelight

allowsto knowthestatusof the systemorthestate of aspecificpallet.Please referLightsStatessection.

1.1.6.AirPick VacuumGripper

The AirPickisaVacuum Gripper that createsa vacuum via apneumatic vacuum generator.It isequipped with one or multiple suction

cups.Each suction cup canbe adapted to your applicationand grasping needs.TheAirPickGripperiscompatiblewiththeRobotiq

standard coupling interface.

Palletizing Solution -InstructionManual

Fig.1-1:Robotiq AirPickGripper

1.1.7.SuctionCup System

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

bracket,amanifold,airnodes,port plugs,bumpers,tubing and additional suctioncups.

Fig.1-2:Suction cup system

Info

Please referto theInstallationsection formore informationonhowto integratetheSuctionCup Systemto theAirPick.

Tip

Theownercanuse acustom bracket ora mounting plate.Thebracket ormounting plate canbeinstalled directlyunder the

manifold.

1.1.8.ExtraReachGripperBracket

The extrareach gripperbracket isincluded intheSolution to extend theAirPickGripper of 200mm from therobot tool flange. Thisway,

the Robotiq Palletizing Solution will be able to palletize boxeson large size pallets. Please refer to the Extra ReachBracket section for

moredetailsabout thelimitationsof theextensionbracket

Fig.1-3:AirPickVacuum GripperExtra Reach Bracket

1.1.9.BoxDetectionSensor

TheSolution includesaboxsensorthat needsto beinstalled at theend of theconveyorin awaythat it istriggered whenaboxisready

to bepicked up.

Fig.1-4:BoxSensor

Palletizing Solution -InstructionManual

1.2.Object Picking

TheAirPickGripperallows:

1. Mainunit suction cup

2. Auxiliarysystem with multiple suctioncups

Warning

Object picking causesthecompression of thesuction cup(s),which canresult inpinching pointsbetweenthegripperand the

load.Avoid presenceof bodypartsin thiszoneduring operation.

Warning

Before picking anynewobject or material in autonomousmode,alwayscheck that theresulting vacuum level issufficient to

ensuresafegripping,inorderto prevent dropping orejectionof theload.

1.2.1.MainUnit SuctionCup

lIn orderto use onlyonesuction cup,the single cup canbe mounted right inthe port of thevacuum generator.

1.2.2.AuxiliarySystemwithMultiple SuctionCups

lA standard Suction Cup System can be attached to theAirPickVacuum Gripper.The bracket normallyholds two or foursuctioncups

(corresponding to thefourportsof themanifold).

lAnyunused manifold port should be blocked withamating plug to avoid airleakage.

lOther custom mounting options canalso be used to benefit from a multiple suction cupssolution.

Info

For thecollision avoidance algorithm,therobot control softwareconsidersagenericgrippergeometricenvelope that does

not overlap thebox.

Caution

Custom bracketsand platesmust meet therequired technical specifications(referto theTechnicaldimensionssection.

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