ROBOTIQ PALLETIZING SOLUTION AX Series User manual

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

Palletizing Solution - Instruction Manual
Table of Contents
Revisions 5
1. General Presentation 8
1.1. Palletizing Solution Components 8
1.2. Object Picking 12
1.3. Palletizing Operation Diagrams 13
2. Safety 15
2.1. Disclaimer 15
2.2. Intended Use 16
2.3. Warnings, Risk Assessment and Final Application 17
3. Installation 22
3.1. Scope of Delivery 23
3.2. Required Tools and Equipment 24
3.3. Environmental and Operating Conditions 25
3.4. Mounting and Installation 26
3.5. Other Grippers 49
3.6. Installation for Universal Robots 51
3.7. URCap Package 51
3.8. Robot Configurations 57
3.9. License Agreement 60
4. Operation 63
4.1. Starting Up 63
4.2. Light States 64
5. Software 66
5.1. Installation on e-Series Universal Robots 66
5.2. Palletizing Script Functions 78
5.3. Vacuum Gripper Behavior 82
5.4. AirPick Vacuum Control over Universal Robots with URCaps 82
6. Specifications 83
6.1. Technical Dimensions 83
6.2. Mechanical Specifications 88
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6.3. Electrical Specifications 92
7. Maintenance 95
7.1. Linear Axis 96
7.2. Fasteners 97
7.3. AirPick Vacuum Gripper 98
7.4. Cleaning 99
7.5. Solution Storage 99
8. Spare Parts, Kits and Accessories 100
9. Troubleshooting 101
9.1. Palletizing Solution (except the AirPick Gripper) 101
9.2. AirPick Vacuum Gripper 105
10. Warranty 108
11. Harmonized Standards 110
11.1. Applied Standards 110
11.2. EC Declaration of Incorporation 111
12. Appendix 112
12.1. Anchoring Pattern 112
12.2. Safety Connections 113
13. Contact 115
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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 is made, the manual will also be revised, see revision information. See the latest version of this
manual online at: support.robotiq.com.
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
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)
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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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Palletizing Solution - Instruction Manual
Copyright
© 2020-2022 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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Palletizing Solution - Instruction Manual
1. General Presentation
The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" and "AX Series" used in this manual all refer
to the AX Series Robotiq Palletizing Solution. The AX Robotiq Palletizing Solution is a 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. 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 uses the metric system. Unless specified, all dimensions are in millimeters.
1.1. Palletizing Solution Components
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Info
The following section presents the key features of the Robotiq Palletizing Solution and must not be considered as
appropriate to the operation of the Solution. Each feature is detailed in the appropriate section.
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 Solution is designed to facilitate the positioning of pallets. The base has to be anchored
to the floor. For more details, please refer to the Installation section
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 action, and the control of the pallet sensors and status lights.
1.1.4. Pallet Sensors
The Solution is composed of four (4) sensors to detect pallets 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 to 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 Light States section for more
information.
1.1.6. AirPick Vacuum Gripper
The AirPick is a Vacuum Gripper that creates a vacuum via a pneumatic vacuum generator. It is equipped with one or multiple
suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper is compatible with the
Robotiq standard coupling interface.
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Palletizing Solution - Instruction Manual
Fig. 1-1: Robotiq AirPick Gripper
1.1.7. Suction Cup 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 Installation section for more information on how to integrate the Suction Cup System to the AirPick.
Tip
The owner can use a custom bracket or a mounting plate. The bracket or mounting plate can be installed directly under
the manifold.
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