ROBOTIQ AX10 User manual

Robotiq AX10 Palletizing Solution
for Universal Robots
User Manual
ROBOTIQ AX10
PALLETIZING SOLUTION
robotiq.com | leanrobotics.org
Original instructions (en)
© 2024 Robotiq Inc.

AX10 Palletizing Solution
Table of Contents
Revisions 5
1. General Presentation 9
1.1. Palletizing Solution Components 9
2. Safety 12
2.1. Disclaimer 12
2.2. Risk Assessment 13
2.3. Use of the Solution 19
3. Installation 25
3.1. Scope of Delivery 26
3.2. Required Tools and Equipment 28
3.3. Environmental and Operating Conditions 30
3.4. Mounting and Installation 31
3.5. Other Grippers 65
3.6. URCap Package 68
3.7. Robot Configurations 69
4. Operation 71
4.1. Start Up 71
4.2. Palletizing Operation Instructions 72
4.3. Palletizing Operation Diagrams 73
4.4. Status Light States 74
5. URCap Software 76
5.1. License Agreement 76
5.2. Copilot 79
5.3. Command Window 81
5.4. Program Tree 104
5.5. Palletizing Script Functions 113
6. Safety Devices 119
6.1. General Operation 119
6.2. Nomenclature 119
6.3. Connections 122
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AX10 Palletizing Solution
7. Specifications 129
7.1. Technical Dimensions 129
7.2. Mechanical Specifications 130
7.3. Electrical Specifications 131
8. Periodic Inspection and Maintenance 133
8.1. Power Off and Lock Off Procedure 133
8.2. Linear Axis 134
8.3. Fastener Specifications 135
8.4. Cleaning 136
8.5. Storage 136
9. Spare Parts, Kits and Accessories 137
9.1. PowerPick10 (Optional Gripper) Spare Parts & Accessories 138
10. Troubleshooting 140
10.1. Palletizing Solution (excluding the PowerPick10 Vacuum Gripper) 140
10.2. PowerPick10 Vacuum Gripper (Optional) 144
11. Warranty 145
12. Harmonized Standards 147
12.1. EC Declaration of Incorporation 147
12.2. Identification plate 149
13. Appendix 150
13.1. Palletizing Cell Layout 150
13.2. Pneumatic Diagram 153
14. Contact 154
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AX10 Palletizing Solution
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 robotiq.com/support.
2024/02/22
Updated several sections to account for changes made to the AX10 palletizer to accommodate the new version of the
PowerPick10 Vacuum Gripper
lPowerPick10 Vacuum Gripper and Vacuum Generation Unit installation and specifications
lCable management system
lRobot installation
lElectrical installation
lMaintenance
lThe AXSeries Palletizing Solution is now referred to as the AX10 Palletizing Solution
2023/12/18
lNew software features added for Multi-recipe
lNew script functions added: Use Payload with Box, Use Payload No Box & Set Box Payload
2023/07/08
Updated several sections to account for the design and capabilities of the upgraded Linear axis controller, namely:
lInstallation procedure
lSafety measures & safety devices
lElectrical and mechanical specifications
lMaintenance & troubleshooting
Created the Safety Devices section to account for the configurations made possible with the update of the Linear axis controller.
2023/05/09
lMulti-recipe feature added in URCap Software section.
lPallet states updated in URCap Software section.
lGeneral re-organization of the multi-pick feature content.
lMove strategies updated (Snapping vs. Movement steps) in URCap Software section.
lUser interface update for Palletizer node.
2023/01/31
lAirPick Gripper is replaced by PowerPick Gripper. Sections are modified accordingly.
lMultipick feature added in Software section.
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AX10 Palletizing Solution
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).
lImages of Configurable Outputs modified (Installation section).
2022/10/03
lLinear Axis Move images modified (Software section).
lMaximum value for Elbow joint limit changed from 0° to 3°. Minimum and maximum values for Wrist 3 joint limits changed from -
270° to -273° and 270° to 273° (Installation section).
lCable management material and installation modified (Installation section).
lCable management spare parts removed (Spare Parts, Kits and Accessories section).
2022/04/25
lAdded warning note for Moving and Positioning the Solution (Installation section).
lAdded ''Add virtual planes around 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 Limits section
2022/02/03
lAdded Physical Clearance and Reachable Area of the Robot section
lUpdated Safety Connections section
2022/01/04
lAdded script functions
lUpdated Installation on Universal Robots e-Series section
lThe palletizer model is now named AX Series
2021/10/07
lUpdated Center of mass, tool center point (TCP) table
2021/09/22
lUpdated Safety Connections Appendix
lPink wire is now orange
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AX10 Palletizing Solution
lUpdated Safety section to add information regarding Reduced mode
lUpdated Software section with more details for 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 Specifications section (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 Warranty section
lUpdate of the Installation section with new cable management instructions
lUpdate of Spare Parts, Kits and Accessories section
2021/03/29
lUpdate of the Software section: label orientation option added.
lUpdate of the Specifications section
lUpdate of the Installation section (Robot configurations)
2020/12/16
lUpdate of the safety section
lUpdate of the installation section
lUpdate of the specifications section
2020/11/30
Update of the Installation section.
2020/11/25
Initial release
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AX10 Palletizing Solution
Copyright
© 2020-2023 Robotiq Inc. All rights reserved.
This manual and the product it describes are protected by the Copyright Act of Canada, by laws of 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 includes translation into another language or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed
by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after
the edition date.
The information contained in this document is subject to change without notice.
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AX10 Palletizing Solution
1. General Presentation
The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" and "AX10" used in this manual all refer
to the Robotiq AX10 Palletizing Solution for UR10e Universal Robots. The Robotiq AX10 Palletizing Solution is a hardware and
software solution preconnected and ready to install. It is composed of a base fully integrated with a linear axis, pallet sensors, and
status lights. The standard delivery also contains the Robotiq PowerPick10 Vacuum Gripper and Vacuum Generation Unit. The
Material Handling Copilot software and accessories (e.g., box sensor, anchor kit, cable management system, etc.) are also part of
the Solution.
CAUTION
This section presents the key features of the Robotiq Palletizing Solution and must not be
considered as sufficient knowledge to operate the Solution. Each feature is detailed in the
appropriate section.
1.1. Palletizing Solution Components
Fig. 1-1: Robotiq AX10 Palletizing Solution
1.1.1. Base and Column
The Robotiq Palletizing Solution is composed of a base and a column on which all the components that are necessary to the good
operation of the Solution are attached.
The base has to be anchored to the floor. For more details, please refer to the Installation section
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AX10 Palletizing Solution
1.1.2. Linear Axis
To extend the reach of the robot, a linear axis is installed inside the column. It allows the robot to move vertically in order to build
high pallets.
1.1.3. Linear Axis Controller
All the components of the Solution are integrated and controlled via the linear axis controller. It allows for the simultaneous
motion of both the axis and the robot during a palletizing process, and the control of the pallet sensors and status lights.
1.1.4. Pallet Sensors
The Solution is composed of four (4) sensors used to detect pallet presence (two per pallet). The sensors will allow the Solution to
ensure that the pallets are well positioned on each side of the base to optimize the application process.
1.1.5. Status Lights
Two (2) status lights are positioned at the top of the base. Each status light is associated with the nearest pallet. The color of the
light gives information on the status of the system or the state of a specific pallet. Please refer to the Status Light States section for
more information.
1.1.6. PowerPick10 Vacuum Gripper (Optional)
PowerPick10 is a vacuum gripper that uses a venturi system to generate vacuum from a compressed air energy source. The
PowerPick10 interfaces with the robot via input/output (I/O) cables connected directly to the robot controller.
The kit consists of a gripper, multiple suction cups and interchangeable components, along with a dual-channel vacuum
generation unit. The unit also includes a shut-off valve and an integrated filter regulator.
Its design is suitable for the Robotiq Palletizing Solution when used with a UR10e robot (weight, payload, independently
controllable channels).
Fig. 1-2: PowerPick10 Gripper and Vacuum Generator
Interchangeable Components
The PowerPick10 Gripper can be installed with various interchangeable components including suction cup brackets, an offset
plate, hollow offset links, a tubular wrist extension and various suction cups depending on the application, object material and
grasping requirements.
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AX10 Palletizing Solution
NOTICE
Please refer to the user manual of the PowerPick10 Gripper on Robotiq's support website for more
information on other end-of-arm configurations, including suction cups, suction cup brackets, wrist
extension and hollow offset links.
1.1.7. Box Detection Sensor
The Solution includes a box sensor that needs to be installed at the end of the conveyor, and positioned so that it triggers a signal
when a box is at the picking position.
Fig. 1-3: Box Sensor
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AX10 Palletizing Solution
2. Safety
2.1. Disclaimer
The intent of this section is to provide general guidelines for the 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 practices including but not limited to those set forth in this
document.
The terms user,operator and installer, refer to anyone responsible for any of the following operations on the Robotiq Palletizing
Solution:
lInstallation
lControl
lMaintenance
lInspection
lCalibration
lProgramming
lDecommissioning.
The present section is based on the following international standards and technical specifications:
lISO 10218-1:2011 : Safety Requirements For Industrial Robots - Robots
lISO 10218-2:2011 : Safety Requirements For Industrial Robots - Robots Systems and Integrators
lIEC 60204-1 : Safety Of Machinery - Electrical Equipment Of Machines
lISO/TS 15066:2016 : Robots and robotic devices — Collaborative robots
This manual details the components of the Robotiq Palletizing Solution, and the general operations regarding the whole lifecycle
of the product, from installation to operation and decommissioning.
The drawings and photos in this manual are representative examples. However, discrepancies may be observed between the
visual supports and the actual product.
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AX10 Palletizing Solution
2.2. Risk Assessment
2.2.1. General Risk Assessment
WARNING
The user must have read and understood all of the instructions in the following manual before
operating the Robotiq Palletizing Solution. Any use of the Palletizing Solution in non-compliance with
these instructions is deemed inappropriate and may cause injury or damage.
It is the user's responsibility to ensure that all local safety measures and regulations are met.
WARNING
Unauthorized Modification
DONOTmodify or alter the equipment without the express written consent and approval of the
manufacturer.
The entire cell (i.e., the robot, the PowerPick10 Vacuum Gripper or any other gripper, the linear axis, and any other equipment
used in the final application) must go through a comprehensive risk assessment process before they can be used.
All cells being different, it is important to perform a risk assessment and to enforce the required standards. Please note that the
results of the risk assessment depend on the usage and application.
The following non-exhaustive list presents risks that must be assessed during the integration process:
lRisk of load ejection resulting from loss of vacuum.
lRisk of load dropping resulting from loss of vacuum.
lRisk of pinching by any moving component of the Robotiq Palletizing Solution or the robot.
lRisk of damage or breaking if using a custom suction cup bracket that does not meet the technical requirements.
lRisk of damaged objects or injury resulting from a collision between an object and the robot, the gripper or the boxes.
lRisk of injury resulting from a collision between a person and the Solution.
Additional hazards may be present, depending on the configuration and what is being palletized. For instance, the object handled
by the gripper could be inherently dangerous to the operator.
To ensure an adequate level of safety, floor markings must be applied to delineate safe zones around the Solution. It is the
responsibility of the integrator to establish the proper safe distance from the Solution to protect the user.
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AX10 Palletizing Solution
DANGER
A collision between a person and the Solution may result in material damage, bodily injury and even
death. Make sure anyone working around the Palletizing cell takes all necessary precautions:
lBefore starting the machine, make sure there is enough clearance around the Palletizer and make
sure no one is in the work area of the Solution.
lDuring palletization, it is possible to access the cell from all sides. The customer has to assess the
risks accordingly.
lThe linear axis is NOT power and force limited. Pinching or crushing risk must be considered
seriously.
lWhen the robot is not moving, the collaborative collision detection is disabled. If the linear axis
moves, the robot may cause injury.
2.2.2. Emergency Stop
WARNING
There is no emergency stop button directly on the Robotiq Palletizer. The emergency stop button
used by the Palletizing Solution is the one found on the robot’s teach pendant. Make sure
operators know how to stop the Solution in case of emergency.
Depending on the supply source, when the emergency stop (e-Stop) button is pressed, the following consequences may occur.
The user has the responsibility to perform a risk assessment and choose the appropriate option.
Supply Source Behavior
Robot Control Box
Supply (any 24 V
terminal)
The Vacuum Gripper is powered on.
lAn object is detected: the vacuum level will continue to be regulated and the object will not be lost.
Note: the PowerPick10 gripper (optional) connects to the robot control box supply.
Robot tool supply
(tool connector)
Power failure to the Vacuum Gripper.
lThe vacuum level will drop to ambient pressure and the object will be lost.
It is not recommended to connect the Vacuum Gripper to the tool connector.
CAUTION
Loss of vacuum can occur due to power failure or air supply interruption.
2.2.3. Noise Level
With the PowerPick10 Gripper operating at the optimal pressure level, the noise level at the workstation is 76 dBA (please refer to
the Specifications section of the PowerPick10 Vacuum Gripper user manual, available at robotiq.com/support).
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AX10 Palletizing Solution
Hearing protection is recommended but not mandatory.
Make sure that all local safety measures and regulations are met.
Noise levels should be measured regularly under normal operating conditions.
2.2.4. Cyber Risk
lThe customer must provide a safe firewall connection to avoid unauthorized remote control of the robot.
lThe customer must set a password to avoid unauthorized access to the robot safety configurations.
2.2.5. Residual Risk
For the intended use of the robot system, measures have been taken to prevent personal injury and property damage.
Nevertheless, residual risk remains in certain situations.
Misinstallation
WARNING
Tip Over Hazard
Failure to anchor the Solution according to the guidelines found in the Anchoring the Solution
section may result in material damage, bodily injury or death.
Improper Moving of the Solution
WARNING
Tip Over Hazard
Failure to follow the guidelines found in the Installation section and the Operation section
Maintenance and Repair
WARNING
During maintenance and repair work, make sure that the Palletizing Solution is turned off, de-
energized and cannot be accidentally turned on again.
lMaintenance and repair work should only be carried by qualified and authorized service personnel.
lAfter maintenance and repair work, make sure to remove all tools and equipment to prevent ejected or falling parts, material
damage or bodily injury.
lAll pneumatic tools and devices must be emptied of compressed air before maintenance and repair work.
lAll electric tools and devices must be safely isolated before maintenance and repair work.
lAlways inform the operator before performing maintenance or repair work. Notify a supervisor and lock out/tag out the machine
to prevent users from turning on and using the system. Enforce local safety regulations.
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AX10 Palletizing Solution
lIf necessary, secure the maintenance and repair area with temporary barriers.
lBefore performing repair work, clean the affected parts, especially the connections and fittings.
lInstall the Solution in a safe position. Depending on the maintenance and repair work to carry out, parts may come loose and
cause injury.
WARNING
lMaintenance and repair work on electrical equipment must be carried out by qualified and
authorized personnel.
lDo not bring electrical components into contact with cleaning agents. Electrical components
should only be cleaned when the Palletizing Solution is turned off and de-energized.
lAfter having performed maintenance and repair work, verify screw torque and adjust accordingly if required.
lIf the dismantling of safety equipment is necessary before performing maintenance or repair work, the equipment must be
reinstalled and assessed immediately after completion of said work.
lUse original spare parts exclusively.
lPerform preventive maintenance and cleaning work at regular intervals according to the Periodic Inspection and Maintenance
section.
Risk of Accident
WARNING
During maintenance, there is an increased risk of accident due to the parts, tools and equipment
used in and around the Palletizing Solution area.
lSlip, trip and fall hazards can be avoided by maintaining order and cleanliness in the workplace.
lFor work in elevated positions (500 mm and more), fall protection equipment must be installed and used.
lWhen dismantling or replacing machine parts in elevated positions (500 mm and more), suitable lifting devices should be used.
Hot Surfaces
The proper use of the Palletizing Solution does not create hot surfaces.
If surfaces get hot, please stop using the Solution and contact the Robotiq support team.
Radiation
The proper use of the Palletizing Solution does not create non-ionizing radiation.
Pneumatic Limitations
lThe maximum permissible pressure for all pneumatic components must never be exceeded.
lPneumatic tubing must be checked at regular intervals and replaced if necessary.
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AX10 Palletizing Solution
lLeaky connections must be sealed to avoid breakage, unnecessary or excessive noise, loss of energy, etc.
Protective Devices
Manipulating or circumventing protective devices during the operation of the Solution is generally not permitted and should be
considered negligent.
WARNING
In the event of incorrectly installed, defective or even missing protective devices, operation of the
machine is not permitted.
Electromagnetic Compatibility (EMC)
lUnauthorized changes to electrical components can lead to increased sensitivity to interference, and increased interference
emission. As a result, safety components may be impaired.
lWork on electrical equipment must only be carried out by qualified and authorized personnel.
lBe aware of the possible residual energy after turning off an electrical device with large capacitive components
EMC Compliance
To fully comply with EMCregulations and mandatory standards, an additional phase and earth (PE)connection is required via an
earthing screw, using 2,5 mm2(14 AWG) cable with an M6 cable lug (not provided).
One (1) M6 screw and two (2) toothed lock washers are supplied to attach the cable to the base of the Solution.
Please refer to the figure below for a visual representation.
Fig. 2-1: Additional Phase and Earth Connection to the Base of the Palletizing Solution
Electrical Energy
lWork on electrical equipment must only be carried out by qualified and authorized personnel.
lBe aware of the possible residual energy after turning off an electrical device with large capacitive components. Wait the
appropriate amount of time before working on the device.
lSecure the work area with temporary barriers and a warning note. Secure the main switch with a padlock to prevent unauthorized
switching on.
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AX10 Palletizing Solution
lUse only isolated tools in the corresponding voltage level.
lUse only fuses with specified cut-off current and appropriate dielectric strength.
CAUTION
Follow the 5 electrical engineering safety rules when working on electrical equipment:
1. Disconnect completely.
2. Secure against reconnection.
3. Make sure there is no voltage.
4. Perform grounding and short-circuiting.
5. Provide protection against adjacent live parts.
Robot Risks
WARNING
lAll personnel working with and around the robot must be informed of the inherent risks and safety
instructions.
lTo avoid being pinched or crushed when the robot moves toward a stationary object, always keep
a minimum distance of 500 mm.
lTo avoid being pinched or crushed when the robot moves toward the floor, always keep a
minimum distance of 300 mm.
lTo avoid being pinched or crushed between the robot (gripper or linear axis) and walls or
peripherals, always keep a minimum distance of 500 mm.
lThose values aforementioned are taken from standard EN 13854:2019 (Minimum gaps to avoid
crushing of parts of the human body). The installation must maintain the minimum distances
specified in this standard.
For more information, refer to the robot's instruction manual.
lRobots move quickly and exert high force. A program interruption or stop can be followed by rapid and dangerous movements.
lEven a programmed robot can be affected by external signals and make unexpected movements. Therefore, when entering the
work area, all safety instructions must be observed.
lRobot teaching, robot programming and software modification may only be performed by competent and authorized personnel.
lChanges to the robot's safety settings may only be made by competent and authorized personnel. The changes must be verified
and documented.
lReducing the speed and acceleration of the robot reduces the risks as it:
oGives the operator more time to react appropriately.
oReduces the robot's braking time.
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AX10 Palletizing Solution
WARNING
Reducing the robot's speed does not reduce the risk of pinching or crushing. Even at its slowest
speed, the robot movements can cause material damage and bodily injury.
Movement Without Power Supply
DANGER
If a person has been trapped by the robot arm, make sure that attempting to free the person does
not aggravate an injury or further increase the risk of injury.
In the case of an undesired event (malfunction, emergency, blockage, etc.), power loss or unwanted power surge, you can:
lUse forced back-driving. To perform forced back-driving, push or pull the robot arm hard enough to move the joint. Each joint
brake has a friction clutch that enables movement during high forced torque.
WARNING
Moving the robot arm manually is intended for urgent/emergency procedures and service
purposes only.
The brake inside each joint is not designed for manual release. Attempting to do so without proper training may cause damage to
the brake and other joint components, and make the joint unusable.
CAUTION
Attempting to release a joint brake manually may cause material damage and bodily injury.
For more information, refer to the robot's instruction manual.
2.3. Use of the Solution
2.3.1. Intended Use
CAUTION
The emergency stop function is intended for use in emergency conditions and not for stops in
normal conditions.
The Robotiq Palletizing Solution is specifically designed for palletization.
Only use the Solution in its original condition without making unauthorized modifications.
Only use the Solution if it is in perfect technical condition.
The Solution is intended to be used with a UR10e robot from Universal Robots.
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AX10 Palletizing Solution
CAUTION
When the linear axis is used in conjunction with a UR10e robot, it is recommended to use a high-
flex power cable, as per Universal Robots recommendations.
Failure to do so will lead to premature wear of the robot cable.
Please follow this link for more information.
Always comply with local, state, province and federal laws, regulations and directives, and always operate the Solution in
compliance with automation safety and general machine safety guidelines.
Do not use the Solution to handle boxes containing hazardous substances. Should hazardous substances be handled by the
Solution, perform a risk assessment that accounts for such substances.
CAUTION
Since there are numerous different materials used in the packaging industry, and since each
material has its own characteristics, properties and behavior with vacuum pressure, a thorough risk
assessment is in order, regardless of the box/packaging material.
2.3.2. Misuse
WARNING
The unit should be used exclusively within the range of its technical data. Any other use of the
Solution is deemed improper and unintended. Robotiq will not be liable for any damages resulting
from any improper or unintended use of the Solution.
Any use of the Solution other than that described in this manual is considered a misuse and should be avoided.
Misuse of the Solution includes but is not limited to the following situations.
Integration misuse:
lUse of the Solution with a robot other than a UR10e.
lUse of a payload higher than the robot’s maximum payload.
lUse of the Solution outside of the environmental and operating conditions.
Operational misuse:
lStanding on the pallet.
lOperation of the Solution by inexperienced or untrained staff members.
lManual placing or adjustment of a box on the pallet while the Solution is in operation.
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