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
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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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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
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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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1.1.8.ExtraReachGripper Bracket
The extra reach gripper bracket is included in the Solution to extend the AirPick Gripper of 200 mm from the robot tool flange.
This way, the Robotiq Palletizing Solution will be able to palletize boxes on large size pallets. Please refer to the Extra Reach
Bracket section for more detailsabout the limitationsof the extension bracket
Fig. 1-3: AirPick Vacuum Gripper Extra Reach Bracket
1.1.9.BoxDetectionSensor
The Solution includesa box sensor that needsto be installed at the end of the conveyor in awaythat it istriggered when abox is
readyto be picked up.
Fig. 1-4: Box Sensor
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Palletizing Solution - Instruction Manual
1.2.Object Picking
The AirPick Gripper allows:
1. Main unit suction cup
2. Auxiliarysystem with multiple suction cups
Warning
Object picking causesthe compression of the suction cup(s), which can result in pinching pointsbetween the gripper
and the load. Avoid presence of body partsin thiszone during operation.
Warning
Before picking any new object or material in autonomousmode, alwayscheck that the resulting vacuum level issufficient
to ensure safe gripping, in order to prevent dropping or ejection of the load.
1.2.1.MainUnit SuctionCup
lIn order to use only one suction cup, the single cup can be mounted right in the port of the vacuum generator.
1.2.2.AuxiliarySystemwithMultiple SuctionCups
lA standard Suction Cup System can be attached to the AirPick Vacuum Gripper. The bracket normally holdstwo or four suction
cups(corresponding to the four portsof the manifold).
lAny unused manifold port should be blocked with a mating plug to avoid air leakage.
lOther custom mounting optionscan also be used to benefit from a multiple suction cupssolution.
Info
For the collision avoidance algorithm, the robot control software considersa generic gripper geometric envelope that
doesnot overlap the box.
Caution
Custom bracketsand platesmust meet the required technical specifications(refer to the Technical Dimensionssection.
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1.3.PalletizingOperationDiagrams
The following diagramsexplain the logical operation of the Palletizing Solution based on the operator'sactions, aswell as
responsessuch assignals, pallet and box sensor behaviors, etc.
Please refer to the StatusLightssection for further information about light states.
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Palletizing Solution - Instruction Manual
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2.Safety
2.1.Disclaimer
The intent of this section is to provide general guidelines for safe use of the Robotiq Palletizing Solution, always follow local
regulations. The installer is responsible for the safe installation and commissioning of the Palletizing Solution. Robotiq accepts no
liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of this product. The user (installer
and operator)shall observe safe and lawful practicesincluding but not limited to those set forth in thisdocument.
Info
The terms“ operator” , ''installer'', ''commissioning'' or ''installation'' refer to anyone responsible for anyof the following
operationson the Robotiq Palletizing Solution:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning
The present section isbased on the following international standardsand technical specifications:
lISO 10218-1:2011 : Safety RequirementsFor Industrial Robots- Robots
lISO 10218-2:2011 : Safety RequirementsFor Industrial Robots- RobotsSystemsand Integrators
lIEC 60204-1 : SafetyOf Machinery - Electrical Equipment Of Machines
lISO/TS15066:2016 : Robotsand robotic devices— Collaborative robots
Thismanual explainsvariouscomponentsof the Robotiq Palletizing Solution and the general operationsregarding the whole life-
cycle of the product, from installation to operation and decommissioning.
The drawingsand photosin thismanual are representative examples. However, discrepanciesmay be observed between the visual
supportsand the actual product.
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2.2.Intended Use
The Robotiq Palletizing Solution isspecifically designed for palletization.
Warning
Only use the application in itsoriginal condition without unauthorised modifications.
Warning
Only use the application if it isin perfect technical condition.
Warning
The emergencystop function isintended for use in emergencyconditionsand not for normal condition stop.
Info
The Solution isintended to be used with a UR10 or UR10e from Universal Robots.
Info
Alwayscomplywith local, state, province and/or federal laws, regulation and directivesautomation safety and general
machine safety.
Caution
The unit should be used exclusively within the range of itstechnical data. Anyother use of the solution isdeemed
improper and unintended. Robotiq will not be liable for anydamagesresulting from anyimproper or unintended uses.
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Palletizing Solution - Instruction Manual
2.3.Warnings, RiskAssessment and Final Application
Warning
The operator must have read and understood all of the instructionsin the following manual before operating the
Robotiq Palletizing Solution.
Caution
Any use of the Palletizing Solution in non-compliance with these warningsisdeemed inappropriate and may cause injury
or damage.
The entire cell (i.e., the robot, the AirPick Vacuum Gripper or anyother gripper used, the linear axis, and anyother equipment
used in the final application)must go through a comprehensive risk assessment processbefore they can be used. Special care
must be taken during thisstep if custom mounting optionsare used for the suction cups.
Caution
It isthe installer/operator'sresponsibility to ensure that all local safety measuresand regulationsare met.
The following non-exhaustive list presentsrisksthat must be assessed during the integration process:
lRisk of load ejection resulting from lossof vacuum;
lRisk of load dropping resulting from lossof vacuum;
lRisk of pinching any moving component of the Robotiq Palletizing Solution or the robot;
lRisk of damage or breaking if using a custom suction cup bracket that doesnot meet the technical requirements;
Depending on the application, there may be hazardsthat require additional protection and/or safety measures. For instance, the
workpiece handled bythe gripper could be inherently dangerousto the operator.
Warning
The linear axisisNOT power and force limited. Pinching or crushing risk must be considered seriously.
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Warning
When the robot isnot moving, the collaborative collision detection isdisabled. If the linear axismoves, it can hurt
people with the robot.
Warning
Depending on the supply sources, when an emergencystop (e-Stop)button ispressed, the following consequencesmay
occur. The robot owner hasthe responsibility to do a risk assessment and choose the appropriate option.
Supplysources e-Stop consequences
Robot tool supply
(tool connector)
Power failure to the Vacuum Gripper. The vacuum level will drop to ambient pressure
and the object will be lost.
Caution
For the Palletizing Solution, it isnot recommended to connect the Gripper
to the tool connector.
Robot controller supply*
(Any24Vpin)
Vacuum Gripper powered ON.
lIf an object isdetected: the vacuum level will continue to be regulated and the
object will not be lost.
lIf no object isdetected: the Vacuum Gripper will go into a standby state 2 seconds
after the e-Stop button ispressed.
*The AirPick Vacuum Gripper that comeswith the Robotiq Palletizing Solution isconnected via the robot controller.
Warning
Lossof vacuum can occur due to power failure or air supplyinterruption.
2.3.1.Expected System Behavior inNormal Operating Conditions:
lNormal mode: The palletizer continuously fillspalletswhen no human operator iswithin the vicinity of the palletizing cell.
lSafeguarded mode: The system stopswhen a human operator enters the vicinity of the palletizing cell to manipulate a filled pal-
let, place palletsin an empty pallet slot, or troubleshoot the system or any other operationsrequiring human intervention. In such
a state the robot will maintain a Category 2 stop and the linear axis will undergo a Category 1 stop transitioning to a Category 0*
stop. When the safeguardsare removed, the system will resume operation in normal mode.
Info
See IEC 60204-1 for definitionsof stop categories.
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Palletizing Solution - Instruction Manual
Emergency stop mode when the emergency stop button is pressed. All components of the system will undergo stop category 1
transitioning to stop category0.
Operation mode
Robot LinearAxis
Force (N) Power(W) Speed
(mm/s) Force (N) Power(W) Speed (mm/s)
Normal mode
(Up to safetylimits) up to 250 up to 1000 up to 5000 2400* 690
(nominal) 500
Protective stop 0
(Stop Cat 2)
Safeguard stop 0
(Stop Cat 2)
N/A
(Stop Cat 1 and transition to Cat 0)
Emergencystop N/A
(Stop Cat 1 and transition to Cat 0)
Reduced mode Please refer to the Universal Robotsuser manual
for more details.
The linear axisexhibitsthe same behavior in
Reduced and Normal modes. It isnot
recommended to use Reduced mode since
the linear axisisnot safety rated for
collaborative applications.
*Calculated using the following assumptions: static force at peak current with a 90%efficient ball screw and no friction.
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Fig. 2-1: Safety Logical Schema
Warning
In the event of acollision or after an emergencystop, an inspection of the solution must be performed before resuming
the use of the machine. Special attention must be given to the carriage assembly, the linear axis, the cable management
system, and the gripper components. Please contact Robotiq Support if anysign of damage isdetected.
2.3.2.Linear AxisStop Category 0 and 1
When astop isrequired, the robot and the linear axisstart the processat the same time, even if theyare independent, so the
stopping time can differ.
lFor robot information, please refer to the Universal Robotsdocumentation.
lFor the linear axis:
oMaximal stopping time for Category 1: 500 ms;
oMaximal stopping time for Category 0: 100 ms*;
oTravelled distance when there isa stopping time: 33 mm (1-5/16 in)*
*For caseswhere the robot isimmobile, with apayload of 8 kg and the initial speed of the linear axisis500 mm/s, which isthe
maximum allowed speed.
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