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
Palletizing Solution - PESeries- Instruction Manual
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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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