ROBOTIQ PE Series User manual

Robotiq PalletizingSolution- PESeries
for Universal Robots
Instruction Manual
ROBOTIQ PALLETIZING SOLUTION
PE Series
robotiq.com | leanrobotics.org
Original Notice
© 2023Robotiq Inc.

Palletizing Solution - PESeries- Instruction Manual
Tableof Contents
Revisions 5
1. General Presentation 8
1.1. Palletizing SolutionComponents 8
1.2. Palletizing OperationDiagrams 10
2. Safety 12
2.1. Disclaimer 12
2.2. Intended Use 13
2.3. Warnings, RiskAssessment and Final Application 14
3. Installation 17
3.1. Scope of Delivery 18
3.2. Required Toolsand Equipment 19
3.3. Environmental and Operating Conditions 20
3.4. Mounting and Installation 21
3.5. OtherGrippers 42
3.6. InstallationforUniversal Robots 44
3.7. URCap Package 44
3.8. Robot Configurations 51
3.9. License Agreement 54
4. Operation 57
4.1. Starting Up 57
4.2. Light States 58
5. Software 59
5.1. Installation 59
5.2. MultipickFeature 61
5.3. Program 61
5.4. Wiring the MultipickFeature 79
5.5. Palletizing Script Functions 80
6. Specifications 84
6.1. Technical Dimensions 84
6.2. Mechanical Specifications 85
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6.3. Electrical Specifications 88
7. Maintenance 90
7.1. Fasteners 91
7.2. PowerPickVacuum Gripper 92
7.3. Cleaning 92
7.4. SolutionStorage 92
8. Spare Parts, Kitsand Accessories 93
9. Troubleshooting 95
9.1. Palletizing Solution(except the PowerPickGripper) 95
9.2. PowerPickVacuum Gripper 98
10. Warranty 99
11. Harmonized Standards 101
11.1. Applied Standards 101
11.2. EC Declarationof Incorporation 102
12. Appendix 103
12.1. Anchoring Pattern 103
13. Contact 104
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Palletizing Solution - PESeries- Instruction Manual
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Palletizing Solution - PESeries- Instruction Manual
Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in
specifications. If such modification ismade, the manual will also be revised, see revision information. See the latest version of this
manual online at: support.robotiq.com.
2023/01/31
lAirPick Gripper isreplaced by PowerPick Gripper. Sectionsare modified accordingly
lMultipick feature added in Software section.
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).
2022/10/03
lMaximum value for Elbow joint limit changed from 0° to 3°. Minimum and maximum valuesfor Wrist 3 joint limitschanged from -
270° to -273° and 270° to 273° (Installation section).
lCable management material and installation modified (Installation section).
2022/07/11
lComponentsimage modified in General Presentation section for modification of base covers
lStepsand imagesmodified in Installation section for modification of base covers.
2022/04/25
lAdded warning note for Moving and Positioning the Solution (Installation section).
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
lUpdated Electrical Specificationssection
lUpdated Push Button Enclosure Connection section
lUpdated Push Button Enclosure and Teach Pendant Rack section
lAdded Robot Limitssection
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2022/02/03
lUpdated Physical Clearance and Reachable Area of the Robot section
lAdded new option in Copilot Configuration tab
lAdded new option in Palletizer node
lRemoved Force and Speed Robot Limitssection
lUpdated Harmonized Standardssection
2022/01/04
Initial Release
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Palletizing Solution - PESeries- Instruction Manual
Copyright
© 2023Robotiq 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 may be 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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Palletizing Solution - PESeries- Instruction Manual
1.GeneralPresentation
The termsPalletizer,Palletizing Solution,Robotiq Palletizing Solution,Solution and PESeriesused in thismanual all refer to the PE
SeriesRobotiq Palletizing Solution. The PERobotiq 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 status lights. 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
Fig. 1-1: PESeriesRobotiq Palletizing Solution
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,PedestalandPost
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 aplunger 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 Installation section
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1.1.2.RobotiqController
All the componentsof the Solution are integrated and controlled viathe Robotiq Controller. It allowsfor the motion of the robot
during a palletizing action, and the control of the pallet sensorsand statuslights.
1.1.3.StandalonePost
The Solution also comprisesa post to which apush button enclosure, statuslightsand teach pendant rackare 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.PowerPickVacuumGripper(Optional)
The PowerPickisa Vacuum Gripper that createsa vacuum with aventuri system that usescompressed air asan energysource. It
comeswith itsexternal controller, isequipped with multiple suction cupsand interchangeable components. Itsdesign is
optimized (weight, payload capability)for the Palletizing Solution when used with aUR10e robot.
Fig. 1-2: Robotiq PowerPick Gripper and Controller
1.1.7.BoxDetectionSensor
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. 1-3: Box Sensor
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Palletizing Solution - PESeries- Instruction Manual
1.2.PalletizingOperationDiagrams
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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