Lean ROBOTIQ AX Series User manual

Robotiq PalletizingSolution - AX Series
for Universal Robots
Instruction Manual
ROBOTIQ PALLETIZING SOLUTION
AX Series
robotiq.com | leanrobotics.org
Original Notice
© 2022Robotiq Inc.

Revisions 5
1. General Presentation 8
1.1. Palletizing SolutionComponents 8
1.2. Object Picking 12
1.3. Palletizing OperationDiagrams 13
2. Safety 15
2.1. Disclaimer 15
2.2. Intended Use 16
2.3. Warnings, RiskAssessment and Final Application 17
3. Installation 22
3.1. Scope of Delivery 23
3.2. Required Toolsand Equipment 24
3.3. Environmental and Operating Conditions 25
3.4. Mounting and Installation 26
3.5. OtherGrippers 50
3.6. InstallationforUniversal Robots 52
3.7. URCap Package 52
3.8. Robot Configurations 58
3.9. License Agreement 61
4. Operation 64
4.1. Starting Up 64
4.2. Light States 64
5. Software 67
5.1. Installationon e-SeriesUniversal Robots 67
5.2. Palletizing Script Functions 78
5.3. Vacuum Gripper Behavior 80
5.4. AirPickVacuum Control over Universal Robotswith URCaps 80
6. Specifications 81
6.1. Technical Dimensions 81
6.2. Mechanical Specifications 86
6.3. Electrical Specifications 90
7. Maintenance 93
Palletizing Solution - Instruction Manual
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7.1. LinearAxis 94
7.2. Fasteners 95
7.3. AirPickVacuum Gripper 96
7.4. Cleaning 97
7.5. SolutionStorage 97
8. Spare Parts, Kitsand Accessories 98
9. Troubleshooting 99
9.1. Palletizing Solution(except the AirPickGripper) 99
9.2. AirPickVacuum Gripper 103
10. Warranty 106
11. Harmonized Standards 108
11.1. Applied Standards 108
12. Appendix 109
12.1. Anchoring Pattern 109
12.2. SafetyConnections 110
13. Contact 112
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Palletizing Solution - Instruction Manual
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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.
2022/01/04
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 SafetyConnectionsAppendix
lPink wire isnow orange
lUpdated Safetysection 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
Palletizing Solution - Instruction Manual
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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
2020/11/30
Update of the Installation section.
2020/11/25
Initial release
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Palletizing Solution - Instruction Manual
Copyright
© 2020-2022 Robotiq Inc. All rightsreserved.
Thismanual and the product it describesare protected by the Copyright Act of Canada, by lawsof 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 may be 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.
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1.General Presentation
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 statuslights. 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 usesthe metric system. Unlessspecified, all dimensionsare in millimeters.
1.1.Palletizing SolutionComponents
Palletizing Solution - Instruction Manual
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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.Base and Column
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 Installation section
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.Linear AxisController
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.AirPickVacuumGripper
The AirPickisaVacuum Gripper that createsa vacuum via apneumatic vacuum generator. It isequipped with one or multiple
suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper iscompatible with the
Robotiq standard coupling interface.
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Palletizing Solution - Instruction Manual
Fig. 1-1: Robotiq AirPick Gripper
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, a manifold, air nodes, port plugs, bumpers, tubing and additional suction cups.
Fig. 1-2: Suction cup system
Info
Please refer to the Installationsection for more information on how to integrate the Suction Cup System to the AirPick.
Tip
The owner can use acustom bracket or amounting plate. The bracket or mounting plate can be installed directlyunder
the manifold.
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