ROBOTIQ AX Series User manual

Palletizing Solution
AX Series
INSTALLATION GUIDE
X-990105-G

THANK YOU FOR CHOOSING ROBOTIQ
This step-by-step guide will allow you to install and test your Robotiq Palletizing Solution
on Universal Robots. Visit the elearning.robotiq.com to see the video of the installation
steps.
1. WHAT IS SUPPLIED?
Standard upon delivery of SOL-PAL-UR-VAC-1500 and SOL-PAL-UR-1500*:
•Palletizing Solution base including:
▪1 x Linear axis (1500 mm stroke)
▪1 x Linear axis Controller
▪4 x Pallet sensors
▪2 x Status lights
▪1 x Cable management system
•6 x Concrete anchors
•1 x Box detection sensor
•1 x PowerPick Vacuum Gripper kit (Optional)
•1 x Air filter kit (optional)
•1 x Set of four (4) casters
•1 x Material Handling Copilot software license dongle
*SOL-PAL-UR-1500 does not contain the gripper, and as such the gripper installation steps do not apply.
2. SAFETY & WARNINGS
The operator(s) must have read and understood all of the Safety section in the user manual
(available at support.robotiq.com).
The entire cell must go through a comprehensive risk assessment process before it can be used.
Do not operate the Palletizing Solution or even turn on the power supply before the device is
firmly anchored and the machine area is cleared. Make sure the air supply is secured.
Make sure to follow all safety rules and regulations of your workplace. Always wear all
recommended personal protective equipment in accordance with your workplace safety
standards.
Failure to properly secure and install the equipment can result in material damage and bodily
injury.

3. TOOLS NEEDED
Included
Not included
•12.7 mm concrete drill bit (1/2 in) (for
use with a rotary hammer)
•19mm Socket (10 mm drive size)
•17mm Socket (10 mm drive size)
•2 mm hex key
•3 mm hex key
•4 mm hex key
•5 mm hex key
•6 mm hex key
•10 mm hex key
•Optional:
• 2.5 mm hex key
• 5.5-17 mm double ended wrench
• 20-21 mm double ended wrench
•Lifting equipment (min. capacity of
200 kg)
•Power screwdriver
•Drill with a No.2 Phillips bit
•2.5 mm slotted screw- driver
•Tube cutter
•Ratcheting socket wrench with 10mm
(3/8 in) drive or adapter
•Torque wrench with 10mm (3/8 in)
drive or adapter
•Isopropyl alcohol
•Hammer drill
•Hammer
4. UNBOXING
The transport, lifting and moving of the Palletizing Solution should be done by qualified
and authorized personnel. Failure to do so may result in machine damage, serious injuries
or death.
Crush hazard: Keep your hands and body parts clear when lowering the column onto the
base. Failure to do so could result in serious injuries or death.
1. Remove the top panel and the four (4) sides of the crate by removing the screws that
hold them into place.
2. Remove the upper wooden frame by removing the screws that hold it into place.
3. Cut and remove the strapping material.
4. Remove the linear axis controller.
5. Remove the two (2) bolts that hold the base to the crate.
6. Take the base out of the crate.
7. Take all cardboard boxes out of the crate.
8. Remove the screws that hold the lower wooden frames to the crate.
9. Remove the lower wooden frames.
10. Unscrew the two (2) bolts that hold the column to the crate; discard the metal plate.
11. Remove the screws that hold the piece of wood under the foot base.
12. Lift the foot base, remove the piece of wood and lower the foot base slowly and carefully
(see image below).

13. Position the column vertically. Use the pivot point at the base to lift the column.
14.Lift and place the column onto the base. Robotiq recommends attaching the hook at
the top of the column to a lifting device (e.g., hoist) to bring the column upright (column
weight =88 kg / 194 lb).

15. Secure the column on the base using the four (4) M10 screws provided. Tighten to a
torque of 50 Nm (37 ft-lb).
To securely move and position the unit, there are two possibilities:
Using a forklift
Pay attention to the center of gravity to prevent the equipment from falling.
Make sure to secure and stabilize the Solution before any move.
Using the set of wheels provided with the Solution
1. Screw the four (4) provided leveling
bolts to lift the solution (about 1
centimeter high).
2. Secure the four (4) wheels using the
provided screws.
3. Unscrew the four (4) bolts to get the
solution down on its wheels.
Do not work on the Solution while
it is on its wheels as it is not
stable. To return the Solution on
its feet, simply screw the four
bolts, remove the wheels and
unscrew the bolts.

5. MECHANICAL & ELECTRICAL INSTALLATION
Main steps
A. Robot Installation
B. Base Cover Plate Removal
C. Linear Axis Controller Installation
D. Universal Robots Controller Installation
E. Power Cables Connection
F. Inter-Controller Cables Connection
G. Status LED Connection
H. Pallet Sensors and Palletizer Base Cable Routing
I. Safety Signals Connection
J. Solution Centering
K. PowerPick Vacuum Gripper Installation (Optional)
L. PowerPick Controller Installation
M. Cable Routing System Installation
N. PowerPick Gripper and Copilot Connection
O. Box Sensor(s) Cable Connection
P. Palletizer and Surrounding Equipments Positioning
Q. Solution Anchoring
R. Finalization and Power On
S. Joint Limits Setting
For details of each step, refer to the corresponding section below.

Install the robot before installing the linear axis controller in order to ensure the
stability of the Palletizing Solution.
A. Robot Installation
1. Place the robot on the robot base plate so its power cable is
oriented towards the linear axis. Align properly with the two
dowel pins (already installed on the robot base), and secure
the robot using four (4) M8 x 25 mm screws and Belleville
washers. The required torque value is 20 Nm (15 ft-lb).
2. Unclip the two mounting brackets of the cable management system: one on the
column and one on the carriage.
3. Push the robot power cable into the cable carrier up to the column. There are two
separate raceways; one for the air tube and the other for the robot power cable.
The robot power cable and the air tube should not use the same section. Do not
channel the cable through the column just yet.
B. Base Cover Plate Removal
Remove the cover plate for cable management.

C. Linear Axis Controller Installation
1. Remove the four (4) screw caps on the linear axis controller.
2. Partially unscrew (approximately 3 mm) each screw at the back of the linear axis
controller.
3. Lower the linear axis controller slowly and carefully.
4. Tighten the screws to secure the controller to the controller bracket. The torque
required is 15 Nm (11 ft-lb).
D. Universal Robots Controller Installation
1. Remove the four screws on the top of the linear axis controller.
2. Place the UR controller on top of the linear axis controller and secure it
with the four screws previously removed.
Do NOT connect the UR controller’s power cable to the UR controller.
E. Power Cables Connection
Refer to the linear axis & controller nomenclature summary below for next steps.
The Solution should only be connected to a power source
once all connections have been made and completed.
1. Connect the power cable of the linear axis controller to the
UR controller.
2. Push the robot's power cable into the column via the hole
on the side and bring it out through hole #2.

3. Connect the robot power cable to the UR controller.
4. Connect the Teach Pendant to the UR controller.
5. Connect the power cable of the UR controller to the linear axis controller. Insert it
through hole #4.
6. Continue to channel the cable through the column and the base and bring it out from
the other end of the base. Do not connect the power cable to a power source just yet.
F. Inter-Controller cables Connection
1. Open the UR controller. Connect the USB hub to a USB port.
2. Connect the Ethernet/USB converter cable to a USB port.
3. Connect the Ethernet cable into the Ethernet socket on top of the linear axis controller.
4. Push the other end of the Ethernet cable through the hole under the UR controller and
connect it to the Ethernet/USB converter cable that is already connected.
G. Status LED Connection
1. Channel the status LED cables (W70 and W80) through the column and pull them
out via hole #3.
2. Connect both status LED cables (W70 and W80) to the linear axis controller.
Follow cable labeling and connector identification.

H. Pallet Sensors and Palletizer Base Cable Routing
1. Channel the pallet sensor cables (W50 and W60) through the column and pull them out
via hole #3.
2. Connect the pallet sensor cables to the linear axis controller. Follow cable labeling and
connector identification.
3. Push the linear axis cable into the column via hole #4 and bring it out at the front of the
column.
4. Connect the linear axis cable to the linear axis.