ROBOTIQ PE Series User manual

QUICK START GUIDE
Palletizing Solution
PE Series
For installation on
Universal Robots
X-990114-C

1. WHAT IS SUPPLIED?
Standard upon delivery of SOL-PAL-UR-VAC-PDSTL
and
SOL-PAL-UR-PDSTL*:
3. TOOLS NEEDED
1. Remove the top panel and the four (4) sides of the crate by
unscrewing the screws that hold them into place.
2. Remove the supporting wooden frame by unscrewing the
screws that hold it into place.
3. Cut all the strapping material that retains the components,
and take all cardboard boxes out of the crate.
4. Unscrew the two (2) bolts that retain the pedestal, and take
the pedestal out of the crate.
5. Unscrew the two (2) screws that retain the teach pendant
rack, and take the teach pendant rack out of the crate.
6. Remove the supporting wooden pieces by unscrewing the
screws that hold them into place.
7. Unscrew the four (4) bolts that retain the base into the crate.
8. Take the base out of the crate.
9. Position the pedestal on the base.
This step-by-step guide will allow you to install
and test your Robotiq Palletizing Solution PE Series
on Universal Robots.
THANK YOU FOR
CHOOSING ROBOTIQ
Included Not included
• 12.7mm (1/2 in) concrete drill
bit (for use with hammer drill)
• 19mm socket, 10mm drive size
• 17mm Socket, 10 mm drive size
• 2 mm hex key
• 3 mm hex key
• 4 mm hex key
• 5 mm hex key
• 6 mm hex key
• 10 mm hex key
•
Power screwdriver
• #2 Phillips bit
• 2.5 mm slotted screwdriver
• Utility knife
• Ratcheting socket wrench
with 10mm (3/8 in) drive or
adapter
• Torque wrench with 10mm
(3/8 in) drive or adapter,
minimum torque range of
15 - 50 Nm (11.0 - 36.9 ft-lb)
• Hammer drill
• Hammer
2. SAFETY & WARNINGS
The operator must have read and understood all of
the instructions in the user manual (available at
support.robotiq.com) before operating the Robotiq
Palletizing Solution.
The entire cell must go through a comprehensive risk
assessment process before they can be used.
Do not operate the Palletizing Solution, or even turn
on the power supply, before the device is firmly
anchored and the machine area is cleared. Make sure
the air supply is secured.
Failure to properly secure and install the equipment
can result in material damage and bodily injury.
• Palletizing Solution base including:
- 1 x Pedestal
- 1x Robotiq Controller
- 4 x Pallet sensors
- 1 x Cable management system
• Palletizing Solution post including:
- 2 x Status lights
- 1 x Teach pendant rack
- 1 x Push button enclosure
• Concrete anchors
• Box detection sensor
• Vacuum Gripper kit (Optional)
• Extra reach bracket for end-of-arm tooling
• 8mm air tube (already mounted on the column)
• Set of four (4) casters
• Material Handling Copilot software license dongle
*SOL-PAL-UR-PDSTL does not contain the gripper, and as
such the gripper installation steps do not apply.
Be careful not to pinch the cables. If necessary,
secure them before lifting and placing the
pedestal on the base.
4. UNBOXING
The transport, lifting and moving of the Robotiq
Palletizing Solution should be performed by qualified
and authorized personnel. Failure to do so may result
to material damage, bodily injury or death.
Make sure to follow all safety rules and regulations of
your workplace while using the Palletizing Solution.
Always wear all recommended personal protective
equipment in accordance with your workplace’s safety
standards such as: safety glasses, steel-toe boots, etc.

10. Secure the pedestal on the base using the four (4) M10
screws provided. Tighten to a torque of 50 Nm.
To securely move the solution, you can use one of the two
following methods:
Do not use the Solution while it stands on its casters.
To make the Solution stand upright, simply screw the
four (4) corner bolts, remove the casters and unscrew
the corner bolts.
Using the set of casterss provided with the Solution
1. Screw the four (4) provided corner bolts to lift the solution.
2. Screw the four (4) casters into the base.
3. Unscrew the corner bolts to set the solution down on its
casters.
Pay attention to the center of gravity to prevent the
equipment from tipping over. Make sure to secure
and stabilize the Solution before moving it.
Using a forklift
5. MECHANICAL & ELECTRICAL
INSTALLATION
Robot Installation
1. Run the cable through the inner pedestal section and pull
the cable out at the bottom of the pedestal.
For e-Series Universal Robots
2. Place the robot on the robot base plate so that the back
of the robot (the side on which is the notch to let the
power cable through the robot base) is oriented towards
the front of the Solution (towards the Robotiq Controller).
Align properly with the two dowel pins (already installed
on the robot base), and secure the robot using four (4)
M8 x 25 mm screws and Belleville washers. The torque
value required is 20 Nm.
Depending on your cobot, make sure to install screws
of the right size:
• For e-Series: use screws M8 x 25mm
• For CB-Series: use screws M8 x 22mm

For CB-Series Universal Robots
1. Unscrew the four (4) screws that hold the robot base plate.
2. Run the robot arm's cable through the opening at the back
of the inner pedestal section.
3. Run the cable through to the opening at the bottom of
the pedestal.
4. Reposition the robot base plate and secure it with its
four (4) screws.
5. Place the robot on the plate so that the back of the robot
is oriented towards the Robotiq Controller. Align properly
with the two dowel pins (already installed on the robot
base), and secure the robot using four (4) M8 x 22mm
screws and Belleville washers.
The torque value required is 20 Nm.
At least two people will be required to perform these
installation steps since they consist in lifting material
that weighs approximately 50 kg (110 lb).
1. Determine the height required based on your pallet and
package configuration. Use the Robotiq Configurator to
simulate your palletizing cell and obtain the exact height
required. (available at designer.suite.robotiq.com)
2. Make sure the robot arm is folded in as much as possible.
3. Unscrew the six (6) screws that hold the pedestal in place,
starting with the two (2) screws on the right side.
Adjusting Pedestal Height
4. While holding the inner pedestal section in place using the
handles on the robot base plate, pull the plunger latch. Lift
the inner pedestal section until it reaches the desired
height. Release the plunger latch. The height markers on
the left side of the inner pedestal section displays the actual
height at which the robot arm stands.
5. Screw the four (4) screws on the left side with a 15 Nm torque,
then the two (2) screws on the right side, with a 15 Nm torque.
Push Button Enclosure and Teach Pendant Rack
1. Screw the post at the front of the base using two (2)
M6 x 20 mm screws and washers. Tuck excess cable into
the base.
2. Unscrew the screws that hold the status lights into place.
Orient the lights so that they stand upright, then tighten
the screws.
Do not invert light order (left/right) since they
indicate the status of the pallet that is closest to
each of them.
3. Once the Solution is at its final position, anchor it to the
ground using the anchors provided. Please refer to the
Anchoring the Solution section should you need more
information on the steps to follow.

2. Run the cable of the Robotiq coupling through one of
the holes in the back base plate.
3. Unroll the air supply tubing and make it run through the
hole at the back of the base.
4. Run the robot’s power supply cable through the back
base plate, and pull the connector through the hole that
is closest to the pedestal.
5. Pull the Robotiq Controller’s power supply cable and Ethernet
cable through one of the holes in the front base plate.
6. If required, connect the Teach Pendant’s cable to the
corresponding socket on the robot controller. Run the cable
through the hole at the front of the Solution’s base, if needed.
7. Optionally, and depending on your application, the stranded
wires of the cable corresponding to the "Restart" and "Pause"
buttons of the push button enclosure can be connected to the
robot controller.
a. In preparation to do so, pull out the cable that is
already routed from under the base, through one of
the holes of the back base plate.
8. Use the power cable provided with the UR robot to power the
Robotiq Controller. Pull the cable through the hole at the very
back of the base.
Cable Routing
1. Remove the cover plates.
9. Run the box sensor’s cable through the opening at the
back of the base, and pull it out through one of the
holes of the back base plate.
Centering the Solution
1. Connect the power supply cable to a power outlet.
2. Power on the robot.
3. Make sure the six (6) screws that hold the pedestal in
place are tight. Torque required: 15 Nm.
4. Unscrew half a turn the four (4) screws that secure the
column onto the base.
Do not unscrew completely. Unscrew only half a turn
to be able to change the orientation of the column.
Completely untightening the screws can cause the
column to fall and cause bodily injuries and
material damages.
Controller Installation and Connection
1. Install the UR controller and secure it using the four (4)
M12 screws.
2. Connect the power output cable of the Robotiq
controller to the UR controller.
3. Connect the robot arm’s power output cable to the
socket on the UR controller.
4. Open the UR controller. Connect the USB hub to a USB
port.
5. Connect the Ethernet/USB converter cable to a USB port.
6. Connect the Ethernet cable to the Ethernet/USB adapter.
5. Rotate the column counterclockwise as much as possible.

6. Position the robot so that the wrist is on the outside left
side of the base like shown in the figure below.
10. Tighten the four (4) screws to secure the column onto the
base. Torque must be 50 Nm.
11. On the teach pendant, validate that the X value is still
333.35 mm.
12. Put the robot back in position of use.
7. Move the robot so the robot tool flange is parallel to the
ground: change the feature reference to Base and modify
the tool position like the following: RX=0°, RY= 180°, RZ=0°.
8. Modify the Tool Position X value (base reference) to
333.35 mm (Make sure the TCP is set to 0.)
Move the robot slowly and watch the movement
to avoid collisions.
9. Rotate the column clockwise so that the side of the robot
wrist touches the side of the base.
AirPick Gripper Installation
To mount the Vacuum Gripper, its accessories and the
cable routing system, power on the robot and rotate
the joints, as described in the table below.
Joint Position
Base
Shoulder
Elbow
Wrist 1
Wrist 2
Wrist 3
-180
-155
-60°
-80°
270°
-180
2. Using four (4) M6 screws and tooth lock washers,
secure the coupling on the robot tool flange or on
the extra reach gripper bracket.
3. Mount the Vacuum Gripper on the gripper coupling.
Align with the dowel pin.
4. Secure by inserting the M5 screws and tooth lock washers.
1. If additional reach is needed, install the extra reach gripper
bracket on the robot tool flange using four (4) M6 screws and
tooth lock washers and align properly with the dowel pin.
Install the bracket only if necessary. Consult the
Configurator to find out if it is needed in your
case. Available at designer.suite.robotiq.com
If the two (2) or four (4) suction cups bracket is needed:
1. Align the flat surface on the manifold with the shoulder of
the vacuum generator.
2. Secure the manifold by inserting screws and tooth lock
washers in a cross pattern to properly compress the O-ring
of the generator.
3. Insert each suction cup, with an O-ring, into an air node.
Tighten cups by hands.

To finish the installation, change the robot position.
Refer to the table below:
Joint Position
Base
Shoulder
Elbow
Wrist 1
Wrist 2
Wrist 3
-180
-155
-60°
-80°
90°
-90°
1. Attach the Igus triflex® R Series (TRE.40B) cable routing
system to the robot, as illustrated in the figure below:
• Using a 5 mm hex key, secure the elbow collar assembly
(larger collar) to the arm. Account for the orientation and
distance from the elbow (D
2
).
• Clip the mounting bracket of the elbow collar assembly on the
cable carrier (align the bracket with the sticker shown in the
chart.
• Using a 5 mm hex key, secure the wrist collar assembly
(smaller collar) to the arm. Account for the orientation and
distance from the wrist (D
1
).
2. If you use the extra reach bracket, run the coupling cable
through the second hole of the bracket.
Robot
model
Elbow
bracket
sticker
D2
ED
D1
Wrist
bracket
sticker
UR10 180 mm 10 mm
3. Connect the coupling cable to the connector visible at the end of
the cable carrier.
4. Install Igus R-Lock clips at both ends of the cable carrier before
clipping them in the brackets
5. Clip the mounting bracket of the wrist collar assembly on the
cable carrier (align the bracket with the sticker shown in the
previous chart).
6. Use cable ties to attach the tubing and cable to the strain
relief part of the mounting bracket.
Make sure not to crush the tubing or the cable with
the cable ties.
7. Cut the air tube at the right length (815 mm / 32 in) past
the plastic strain relief.
8. Connect the 8 mm air tube to the vacuum generator. Ensure
the safety clip is properly installed.
• Maximum pressure allowed is 7 bar (100 psi).
• Optimal pressure is 7 bar (100 psi).
• Dry and filtered air only;
Follow ISO 8573-1, class 3.4.3 Standard.
• Use of a local pressure regulator with a filter
and air dryer is recommended.
11. Shutdown the robot and power off the Robotiq
controller.
10. Connect the other end of the air tube to your local air supply
device.
9. Use the spiral cable sleeve to keep the air tube and the
coupling cable together.

AirPick Gripper and Copilot Connections
1. Connect the Copilot license dongle to the USB hub in the
UR controller. It must be connected at all times.
2. Run the gripper's coupling cable to the UR controller.
3. Connect the white, green and bare wires to the Robotiq
RS-485 signal converter. Also, connect the red (24V) and
black (0V) wires to the terminal blocks of the UR controller.
4. Connect the USB cable to a USB port of the UR controller.
1. Optionally, and depending on your application, the
stranded wires of the cable corresponding to the "Restart"
and "Pause" buttons of the push button enclosure can be
connected to the UR controller.
a. Run the cable to the UR controller.
b. Refer to the Robotiq Controller Connections section
to connect the wires.
Button signals are not redundant. Since they are
actual Pause and Restart commands, they should not
be construed as safeguarding devices.
Push Button Enclosure Connection
Make sure to follow all the safety rules and regulations
of your workplace while using the Robotiq Palletizing
Solution.
Finalization and Power On
1. Reinstall the base covers using the provided screws.
2. Install the pedestal cover using the provided screws.
3. Connect the power cable to the power outlet.
4. Power on the Robotiq controller and the robot.
Box Sensor Connection and Installation
1. Run the box sensor’s cable through a hole under the UR
controller. Connect the brown (24V), blue (0V) and black
(digital input) wires to corresponding connectors in terminal
blocks.
2. Install the box sensor on the bracket that best suits your
setup with the provided screws.
3. Position the sensor box’s bracket so it can detect the box to
be picked.
4. Connect the M8 connector of the box sensor’s cable to the
sensor.
Anchoring the Palletizing Solution
Make sure to do a risk assessment before starting
to use the Solution.
The Solution must only be installed and anchored by
qualified personnel. If you use the anchors provided
with the Solution, it should be installed in 28 MPa
[4000 psi] undamaged concrete (minimum).
6.SOFTWARE & OTHER INFOS
To complete the installation and for all additional information
about the Robotiq Palletizing Solution and its software,
please refer to the corresponding sections of the instruction
manual at robotiq.com/support
elearning.robotiq.com
1. Position the Solution at its final position. (Refer to the
Anchoring schema available at the end of this document)
2. Drill the six (6) holes with the provided drill bit.
3. If necessary, level the Solution using shims.
4. Place the anchors into the holes and fasten the nuts flush to
the screws.
5. Bang the anchors in place.
6. Secure the Solution by screwing the six (6) nuts with a
torque of 54 Nm (40 lb ft) .

Robotiq Controller Connections

Anchoring Pattern