ROBOTIQ PE Series Operation and maintenance manual

Robotiq PalletizingSolution- PESeries
for Universal Robots
Instruction Manual
ROBOTIQ PALLETIZING SOLUTION
PE Series
robotiq.com | leanrobotics.org
Original Notice
© 2022Robotiq Inc.

Revisions 5
1. General Presentation 7
1.1. Palletizing SolutionComponents 7
1.2. Object Picking 11
1.3. Palletizing OperationDiagrams 12
2. Safety 14
2.1. Disclaimer 14
2.2. Intended Use 15
2.3. Warnings, RiskAssessment and Final Application 16
3. Installation 19
3.1. Scope of Delivery 20
3.2. Required Toolsand Equipment 21
3.3. Environmental and Operating Conditions 22
3.4. Mounting and Installation 23
3.5. OtherGrippers 45
3.6. InstallationforUniversal Robots 47
3.7. URCap Package 47
3.8. Robot Configurations 53
3.9. License Agreement 57
4. Operation 60
4.1. Starting Up 60
4.2. Light States 60
5. Software 62
5.1. Installationon e-SeriesUniversal Robots 62
5.2. Palletizing Script Functions 71
5.3. Vacuum Gripper Behavior 72
5.4. AirPickVacuum Control over Universal Robotswith URCaps 72
6. Specifications 73
6.1. Technical Dimensions 73
6.2. Mechanical Specifications 78
6.3. Electrical Specifications 81
7. Maintenance 83
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7.1. Fasteners 84
7.2. AirPickVacuum Gripper 84
7.3. Cleaning 85
7.4. SolutionStorage 85
8. Spare Parts, Kitsand Accessories 86
9. Troubleshooting 87
9.1. Palletizing Solution(except the AirPickGripper) 87
9.2. AirPickVacuum Gripper 90
10. Warranty 93
11. Harmonized Standards 95
11.1. Applied Standards 95
12. Appendix 96
12.1. Anchoring Pattern 96
13. Contact 97
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Palletizing Solution - PESeries- Instruction Manual
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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.
2022/01/04
Initial Release
Palletizing Solution - PESeries- Instruction Manual
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EPick Gripper Add-On Instruction Manual
AirPickGripper Add-On Instruction Manual
Copyright
© 2022 Robotiq Inc. All rightsreserved.
Thismanual and the product it describesare protected by the 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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1.General Presentation
The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" and " PE Series" used in this manual all
refer to the PE Series Robotiq Palletizing Solution. The PE Robotiq Palletizing Solution isa hardware and software solution already
connected and ready to install. It is composed of a base fully integrated with a Robotiq Controller, pallet sensors, a pedestal, and a
post with a teach pendant rack and statuslights. An extra reach gripper bracket isalso 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 usesthe metric system. Unlessspecified, all dimensionsare in millimeters.
1.1.PalletizingSolutionComponents
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.Base, Pedestal and Post
The Robotiq Palletizing Solution iscomposed of a base, on which a pedestal, pallet sensorsand a Robotiq Controller are
mounted, and a post, on which a teach pendant rack, apush button enclosure, and statuslightsare mounted. The inner pedestal
section can be adjusted in height (13different positions)using a plunger latch.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
Palletizing Solution - PESeries- Instruction Manual
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1.1.2.Robotiq Controller
All the componentsof the Solution are integrated and controlled via the Robotiq Controller. It allowsfor the motion of the robot
during a palletizing action, and the control of the pallet sensorsand statuslights.
1.1.3.Standalone Post
The Solution also comprisesapost to which apush button enclosure, statuslightsand teach pendant rack are attached. The post
can either be mounted to the base or positioned elsewhere, adjacent to the base.
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 post adjacent to 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 States
section for more information.
1.1.6.AirPick VacuumGripper
The AirPickisa Vacuum Gripper that createsa vacuum viaa pneumatic vacuum generator. It isequipped with one or multiple
suction cups. Each suction cup can be adapted to your application and grasping needs. The AirPick Gripper iscompatible with the
Robotiq standard coupling interface.
Fig. 1-1: Robotiq AirPick Gripper
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Palletizing Solution - PESeries- Instruction Manual
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, a manifold, air nodes, port plugs, bumpers, tubing and additional suction cups.
Fig. 1-2: Suction cup system
Info
Please refer to the Installationsection for more information on how to integrate the Suction Cup System to the AirPick.
Tip
The owner can use a custom bracket or amounting plate. The bracket or mounting plate can be installed directlyunder
the manifold.
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1.1.8.Extra ReachGripper Bracket
The extra reach gripper bracket is included in the Solution to extend the AirPick Gripper of 200 mm from the robot tool flange.
This way, the Robotiq Palletizing Solution will be able to palletize boxes on large size pallets. Please refer to the Extra Reach
Bracket section for more detailsabout the limitationsof the extension bracket
Fig. 1-3: AirPick Vacuum Gripper Extra Reach Bracket
1.1.9.BoxDetection Sensor
The Solution includesabox sensor that needsto be installed at the end of the conveyor in away that it istriggered when abox is
readyto be picked up.
Fig. 1-4: Box Sensor
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Palletizing Solution - PESeries- Instruction Manual
1.2.Object Picking
The AirPick Gripper allows:
1. Main unit suction cup
2. Auxiliarysystem with multiple suction cups
Warning
Object picking causesthe compression of the suction cup(s), which can result in pinching pointsbetween the gripper
and the load. Avoid presence of body partsin thiszone during operation.
Warning
Before picking any new object or material in autonomousmode, alwayscheck that the resulting vacuum level issufficient
to ensure safe gripping, in order to prevent dropping or ejection of the load.
1.2.1.MainUnit SuctionCup
lIn order to use onlyone suction cup, the single cup can be mounted right in the port of the vacuum generator.
1.2.2.AuxiliarySystemwithMultiple SuctionCups
lA standard Suction Cup System can be attached to the AirPick Vacuum Gripper. The bracket normally holdstwo or four suction
cups(corresponding to the four portsof the manifold).
lAny unused manifold port should be blocked with a mating plug to avoid air leakage.
lOther custom mounting optionscan also be used to benefit from amultiple suction cupssolution.
Info
For the collision avoidance algorithm, the robot control software considersa generic gripper geometric envelope that
doesnot overlap the box.
Caution
Custom bracketsand platesmust meet the required technical specifications(refer to the Technical Dimensionssection.
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1.3.Palletizing OperationDiagrams
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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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 terms“ operator” , ''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 : Safety Of 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, discrepanciesmaybe observed between the visual
supportsand the actual product.
Palletizing Solution - PESeries- Instruction Manual
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2.2.Intended Use
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 UR10or UR10e from Universal Robots.
Info
Alwayscomply with 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 any damagesresulting from any improper or unintended uses.
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Palletizing Solution - PESeries- Instruction Manual
2.3.Warnings, Risk Assessment and Final Application
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 may cause injury
or damage.
The entire cell (i.e., the robot, the AirPick Vacuum Gripper or any other gripper used, and anyother equipment used in the final
application)must go through acomprehensive risk assessment processbefore they can be used. Special care must be taken
during thisstep if custom mounting optionsare used for the suction cups.
In order to make the palletizing cell collaborative, several aspectsshould be taken into consideration. All cellsbeing different, it is
important to perform a risk assessment and to enforce the required standards. Please note that the resultsof the risk assessment
depend on the usage and application.
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 anymoving 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 maybe hazardsthat require additional protection and/or safety measures. For instance, the
workpiece handled by the gripper could be inherentlydangerousto the operator.
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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.
lIf an object isdetected: the vacuum level will continue to be regulated and the
object will not be lost.
lIf no object isdetected: the Vacuum Gripper will go into a standby state 2 seconds
after the e-Stop button ispressed.
*The AirPick Vacuum Gripper that comeswith the Robotiq Palletizing Solution isconnected viathe robot controller.
Warning
Lossof vacuum can occur due to power failure or air supplyinterruption.
2.3.1.Expected System BehaviorinNormal Operating Conditions:
lContinuousoperation: The palletizer continuouslyfillspalletswhen no human operator iswithin the vicinity of the palletizing cell.
lSafeguarded operation
oReduced mode: The palletizer continuously fills pallets, even when an operator enters the palletizing cell. The operator can
safely remove a filled pallet or place a pallet in an empty slot. The system will not start to palletize on an empty pallet unless
the operator has pressed the “Confirm pallet(s) ready” button. To obtain this behavior, the “Confirm pallet(s) ready” check-
box in the Installation tab must be ticked. Also, to allow accessto the cell to the operator, a complete risk assessment must
be performed, and additional parametersmust be set (which include, but are not limited to: robot speed, robot force, safety
planes, guardrails).
oSeparation monitoring mode: The system stops when a human operator enters the vicinity of the palletizing cell to manip-
ulate a filled pallet, 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. When the safeguards are removed, the system will
resume operation in Continuousmode.
Info
See IEC 60204-1 for definitionsof stop categories.
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Palletizing Solution - PESeries- Instruction Manual
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 pedestal, the cable management system, and the gripper
components. Please contact Robotiq Support if anysign of damage isdetected.
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3.Installation
The following subsectionswill guide you through the installation and general setup of your Robotiq Palletizing Solution.
Info
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
When installing:
lMeet the recommended environmental conditions.
lDo not operate the Palletizing Solution, or even turn on the power supply,before the device isfirmly anchored and the
machine area iscleared. Make sure that the air supply issecured.
Warning
Failure 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.
Warning
When assembling or moving the Solution, make sure there isenough vertical and horizontal clearance all around so you
can avoid material damage and bodilyinjury.
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Warning
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.
3.1.Scope of Delivery
l1x PESeriesPalletizing Solution base including:
o1 x Pedestal
o1 x Robotiq Controller
o4 x Pallet sensors
o1 x Cable management system
l1 x PESeriesPalletizing Solution post including:
o2 x Statuslights
o1 x Teach pendant rack
o1 x Push button enclosure
l10 x 1/2" - 13 concrete anchors
l1 x Box detection sensor
l1 x Extra reach bracket for end-of-arm tooling
l1 x Vacuum Gripper kit (Airpick, suctionscups, bracketsfor 2 or 4 cups)(Optional)
l1 x 8mm air tube (already mounted on the column)
l1 x Gripper coupling kit
l1 x Material Handling Copilot software license dongle
l1 x Set of four (4)casters
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