ROBOTIQ PALLETIZING SOLUTION Operation and maintenance manual

Robotiq PalletizingSolution
for Universal Robots
Instruction Manual
ROBOTIQ PALLETIZING SOLUTION
robotiq.com | leanrobotics.org
Original Notice
© 2020Robotiq Inc.

Revisions 4
1. GeneralPresentation 6
1.1. Palletizing SolutionComponents 6
1.2. Object Picking 10
1.3. Palletizing OperationDiagrams 11
2. Safety 13
2.1. Disclaimer 13
2.2. IntendedUse 14
2.3. Warnings, riskassessment and finalapplication 15
3. Installation 19
3.1. Scope of Delivery 20
3.2. RequiredToolsand Equipment 21
3.3. Environmentaland Operating Conditions 22
3.4. Mounting and Installation 23
3.5. OtherGrippers 47
3.6. InstallationforUniversalRobots 49
3.7. URCap Package 49
3.8. License Agreement 55
4. Operation 58
4.1. Starting Up 58
4.2. LightsStates 58
5. Software 61
5.1. InstallationonUniversalRobotse-Series 61
5.2. VacuumGripperbehavior 70
5.3. AirPickVacuum controloverUniversalRobotswithURCaps 70
6. Specifications 71
6.1. Technicaldimensions 71
6.2. Mechanicalspecifications 76
6.3. Electricalspecifications 79
7. Maintenance 82
7.1. LinearAxis 83
7.2. Fasteners 84
Palletizing Solution -InstructionManual
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7.3. AirFilterCleaning 84
7.4. AirPickVacuum Gripper 84
7.5. SolutionCleaning 85
7.6. SolutionStorage 85
8. Spare Parts, Kitsand Accessories 86
9. Troubleshooting 87
9.1. Palletizing Solution(except the AirPickGripper) 87
9.2. AirPickVacuum Gripper 88
10. Warranty 91
11. Harmonized Standards 93
11.1. Applied standards 93
12. Appendix 94
12.1. Anchoring pattern 94
12.2. SafetyConnections 95
13. Contact 97
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Revisions
Robotiq maymodifythisproduct without notice,whennecessary,dueto product improvements,modificationsorchangesin
specifications.If such modification ismade,themanual will also berevised,seerevision information.Seethe latest versionof this
manual onlineat:support.robotiq.com.
2020/12/16
lUpdateof thesafetysection
lUpdateof theinstallationsection
lUpdateof thespecificationssection
2020/11/30
Updateof theInstallationsection.
2020/11/25
Initial release
Palletizing Solution -InstructionManual
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Copyright
© 2020Robotiq Inc.All rightsreserved.
Thismanual and theproduct it describesareprotected bytheCopyright Act of Canada,bylawsof othercountries,and byinternational
treaties,and therefore may not be reproduced inwhole or inpart, whether for saleornot,without prior writtenconsent from Robotiq.
Undercopyright law,copying includestranslation into anotherlanguage orformat.
Informationprovided byRobotiq inthisdocument isbelieved to be accurateand reliable.However,no responsibilityisassumed by
Robotiq for itsuse.Theremaybe somedifferencesbetween themanual and theproduct if theproduct hasbeenmodified afterthe
editiondate.
Theinformationcontained inthisdocument issubject to change without notice.
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1.General Presentation
The terms '' Palletizing'', ''Palletizing Solution'' and ''Solution'' used in the following manual all refer to the Robotiq Palletizing Solution.
The Robotiq Palletizing Solution is a hardware and software solution already connected and ready to install. It is composed of a base
fully integrated with the linear axis, pallet sensors and status lights. The extra reach gripper bracket is also included in the Solution to
extend the AirPick Gripper of 200 mm from the robot tool flange.The Material Handling Copilot and accessories such as a box sensor,
an anchor kit and acable management system are partsof the Solution.
Info
The following manual usesthemetricsystem.Unlessspecified,alldimensionsare inmillimeters.
1.1.PalletizingSolutionComponents
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Info
Thefollowing sectionpresentsthekeyfeaturesof theRobotiq Palletizing Solutionand must not be considered as
appropriateto theoperationof theSolution.Eachfeatureisdetailed intheappropriate section.
1.1.1.Base andColumn
The Robotiq Palletizing Solutioniscomposed of a base and a columnonwhichall thecomponentsthat are necessaryto thegood
operationof the Solutionareattached.Itsgeometryisdesigned to facilitatethepositioning of theRight and Left palletswithout any
surrounding obstructions.The base hasto beanchored inthefloor.Formoredetails,pleasesee the Installationsection
1.1.2.LinearAxis
To extend thereachof therobot,alinearaxisisinstalled insidethecolumn.It allowstherobot to moveverticallyinorderto build high
pallets.
1.1.3.LinearAxisController
All thecomponentsof theSolution areintegrated and controlled viathelinearaxiscontroller.It allowssimultaneousmotionof theaxis
and therobot during palletizing motion.
1.1.4.Pallet Sensors
TheSolution iscomposed of four(4)sensorsto detect palletspresence(two perpallet).Thesensorswill allowtheSolutionto ensure
that the palletsarewell positioned oneach side of thebase to optimize theapplication process.
1.1.5.StatusLights
Two (2)statuslightsarepositioned onthetop of thebase.Eachstatuslight isassociated to thenearest pallet.Thecolorof thelight
allowsto knowthestatusof the systemorthestate of aspecificpallet.Please referLightsStatessection.
1.1.6.AirPick VacuumGripper
The AirPickisaVacuum Gripper that createsa vacuum via apneumatic vacuum generator.It isequipped with one or multiple suction
cups.Each suction cup canbe adapted to your applicationand grasping needs.TheAirPickGripperiscompatiblewiththeRobotiq
standard coupling interface.
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Palletizing Solution -InstructionManual
Fig.1-1:Robotiq AirPickGripper
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,amanifold,airnodes,port plugs,bumpers,tubing and additional suctioncups.
Fig.1-2:Suction cup system
Info
Please referto theInstallationsection formore informationonhowto integratetheSuctionCup Systemto theAirPick.
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Tip
Theownercanuse acustom bracket ora mounting plate.Thebracket ormounting plate canbeinstalled directlyunder the
manifold.
1.1.8.ExtraReachGripperBracket
The extrareach gripperbracket isincluded intheSolution to extend theAirPickGripper of 200mm from therobot tool flange. Thisway,
the Robotiq Palletizing Solution will be able to palletize boxeson large size pallets. Please refer to the Extra ReachBracket section for
moredetailsabout thelimitationsof theextensionbracket
Fig.1-3:AirPickVacuum GripperExtra Reach Bracket
1.1.9.BoxDetectionSensor
TheSolution includesaboxsensorthat needsto beinstalled at theend of theconveyorin awaythat it istriggered whenaboxisready
to bepicked up.
Fig.1-4:BoxSensor
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Palletizing Solution -InstructionManual
1.2.Object Picking
TheAirPickGripperallows:
1. Mainunit suction cup
2. Auxiliarysystem with multiple suctioncups
Warning
Object picking causesthecompression of thesuction cup(s),which canresult inpinching pointsbetweenthegripperand the
load.Avoid presenceof bodypartsin thiszoneduring operation.
Warning
Before picking anynewobject or material in autonomousmode,alwayscheck that theresulting vacuum level issufficient to
ensuresafegripping,inorderto prevent dropping orejectionof theload.
1.2.1.MainUnit SuctionCup
lIn orderto use onlyonesuction cup,the single cup canbe mounted right inthe port of thevacuum generator.
1.2.2.AuxiliarySystemwithMultiple SuctionCups
lA standard Suction Cup System can be attached to theAirPickVacuum Gripper.The bracket normallyholds two or foursuctioncups
(corresponding to thefourportsof themanifold).
lAnyunused manifold port should be blocked withamating plug to avoid airleakage.
lOther custom mounting options canalso be used to benefit from a multiple suction cupssolution.
Info
For thecollision avoidance algorithm,therobot control softwareconsidersagenericgrippergeometricenvelope that does
not overlap thebox.
Caution
Custom bracketsand platesmust meet therequired technical specifications(referto theTechnicaldimensionssection.
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