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
© 2023Robotiq Inc.

Palletizing Solution - Instruction Manual
Tableof Contents
Revisions 5
1. General Presentation 9
1.1. Palletizing SolutionComponents 9
1.2. Palletizing OperationDiagrams 11
2. Safety 13
2.1. Disclaimer 13
2.2. Intended Use 14
2.3. Warnings, RiskAssessment and Final Application 15
3. Installation 20
3.1. Scope of Delivery 21
3.2. Required Toolsand Equipment 22
3.3. Environmental and Operating Conditions 23
3.4. Mounting and Installation 24
3.5. OtherGrippers 46
3.6. InstallationforUniversal Robots 48
3.7. URCap Package 48
3.8. Robot Configurations 55
3.9. License Agreement 58
4. Operation 61
4.1. Starting Up 61
4.2. Light States 62
5. Software 64
5.1. Installation 64
5.2. MultipickFeature 66
5.3. Program 66
5.4. Wiring the MultipickFeature 85
5.5. Palletizing Script Functions 86
6. Specifications 91
6.1. Technical Dimensions 91
6.2. Mechanical Specifications 92
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6.3. Electrical Specifications 96
7. Maintenance 99
7.1. LinearAxis 100
7.2. Fasteners 101
7.3. PowerPickVacuum Gripper 102
7.4. Cleaning 102
7.5. SolutionStorage 102
8. Spare Parts, Kitsand Accessories 103
9. Troubleshooting 105
9.1. Palletizing Solution(except the PowerPickGripper) 105
9.2. PowerPickVacuum Gripper 109
10. Warranty 110
11. Harmonized Standards 112
11.1. Applied Standards 112
11.2. EC Declarationof Incorporation 113
12. Appendix 114
12.1. Anchoring Pattern 114
12.2. SafetyConnections 115
13. Contact 117
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Palletizing Solution - Instruction Manual
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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 ismade, the manual will also be revised, see revision information. See the latest version of this
manual online at: support.robotiq.com.
2023/01/31
lAirPick Gripper isreplaced by PowerPick Gripper. Sectionsare modified accordingly.
lMultipick feature added in Software section.
lScript "Get Current Box Type" added in Software section.
lBox sensor(s)subsection modified in Installation section.
2022/11/22
lCable management installation improved (Installation section).
lLink for action associated to red slow blink light modified (Operation section).
lLink for action associated to yellow solid light modified (Operation section).
lImagesof Configurable Outputsmodified (Installation section).
2022/10/03
lLinear AxisMove imagesmodified (Software section).
lMaximum value for Elbow joint limit changed from 0° to 3°. Minimum and maximum valuesfor Wrist 3 joint limitschanged from -
270° to -273° and 270° to 273° (Installation section).
lCable management material and installation modified (Installation section).
lCable management spare partsremoved (Spare Parts, Kitsand Accessoriessection).
2022/04/25
lAdded warning note for Moving and Positioning the Solution (Installation section).
lAdded ''Add virtual planesaround 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 Limitssection
2022/02/03
lAdded Physical Clearance and Reachable Area of the Robot section
lUpdated SafetyConnectionssection
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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 Safety ConnectionsAppendix
lPink wire isnow orange
lUpdated Safety section 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
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
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Palletizing Solution - Instruction Manual
2020/11/30
Update of the Installation section.
2020/11/25
Initial release
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Copyright
© 2020-2023 Robotiq Inc. All rightsreserved.
Thismanual and the product it describesare protected bythe Copyright Act of Canada, bylawsof 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 maybe 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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Palletizing Solution - Instruction Manual
1.GeneralPresentation
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 status lights. 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.PalletizingSolutionComponents
Fig. 1-1: AXSeriesRobotiq Palletizing Solution
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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.BaseandColumn
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 Installationsection
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.LinearAxisController
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.PowerPickVacuumGripper(Optional)
The PowerPick isa Vacuum Gripper that createsavacuum with aventuri system that usescompressed air asan energy source.It
comeswith itsexternal controller, isequipped with multiple suction cupsand interchangeable components. Itsdesign is
optimized (weight, payload capability)for the Palletizing Solution when used with a UR10e robot.
Fig. 1-2: Robotiq PowerPick Gripper and Controller
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Palletizing Solution - Instruction Manual
1.1.7.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. 1-3: Box Sensor
1.2.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
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 termsoperator,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.IntendedUse
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 exclusivelywithin the range of itstechnical data. Any other use of the solution isdeemed
improper and unintended. Robotiq will not be liable for anydamagesresulting from any improper or unintended uses.
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Palletizing Solution - Instruction Manual
2.3.Warnings,RiskAssessment andFinalApplication
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 maycause injury
or damage.
The entire cell (i.e., the robot, the PowerPickVacuum 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.
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 by the gripper could be inherently dangerousto the operator.
Warning
The linear axisisNOT power and force limited. Pinching or crushing risk must be considered seriously.
Warning
When the robot isnot moving, the collaborative collision detection isdisabled. If the linear axismoves, it can hurt
people with the robot.
Warning
Do not leave anyitem or object between the boxesand the Palletizing Solution asthiscould cause collisions.
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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.
lThe vacuum level will continue and the object will not be lost.
*The PowerPick 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.ExpectedSystemBehaviorinNormalOperatingConditions:
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 axiswill 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 category 0.
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 any sign of damage isdetected.
2.3.2.LinearAxisStopCategory0 and1
When astop isrequired, the robot and the linear axisstart the processat the same time, even if they are 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 (1-5/16in)*
*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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Palletizing Solution - Instruction Manual
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Palletizing Solution - Instruction Manual
3.Installation
The following subsectionswill guide you through the installation and general setup of your Robotiq Palletizing Solution.
Before installing:
lRead and understand the safety instructionsrelated to the Palletizing Solution.
lVerify your package according to the scope of delivery and your order.
lMake sure to have the required parts, equipment and toolslisted in Scope of delivery.
Warning
lWhen installing:
lMeet the recommended environmental conditions.
lDo not operate the Palletizing Solution, or even turn on the power supply, before the device isfirmlyanchored and
the machine areaiscleared. Make sure that the air supplyissecured.
lFailure to properly secure and install the equipment can result in material damage and bodily injury. In addition, note
that in situationswhere the installation isnot compliant, the warranty isvoid.
lWhen assembling or moving the Solution, make sure there isenough vertical and horizontal clearance all around so
you can avoid material damage and bodily injury.
Caution
lMake sure to follow all the safety rulesand regulationsof your workplace while using the Robotiq Palletizing Solution.
lAlwayswear all recommended personal protective equipment in accordance with your workplace'ssafety standards,
including:
oSafety glasses;
oHearing protection;
oHard hats;
oSteel-toe boots
lAlwaysuse proper safety precautionswhen working with toolsthat contain sharp edges, pinching surfaces, or generate
heat.
lAlwayslift heavyobjectswith your legs, not your back. If you can not lift an object alone, ask for help or find another
method to move it.
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