ROBOTIQ PE20 User manual

PE20 Robotiq
Palletizing Solution
INSTALLATION GUIDE
X-990125-A

THANK YOU FOR CHOOSING ROBOTIQ
This step-by-step guide will allow you to install and test your Robotiq Palletizing Solution on
Universal Robots. Make sure to read the user manual before installing the Palletizing Solution.
1. WHAT IS SUPPLIED?
Standard upon delivery of SOL-PAL-UR-VAC-PE20 and SOL-PAL-UR-PE20:
- 1 x Pedestal base including:
- 1 x Mechanically welded assembly
- 1 x Control Box (PLC)
- 2 x Pallet sensors
- 2 x Status lights
- 1 x Teach pendant holder with operator buttons
- 1 x Cable management system
- 1 x Box detection sensor
- 1 x Material Handling Copilot software dongle license
Also included with SOL-PAL-UR-VAC-PE20 only:
- (1) x PowerPick20 Vacuum Gripper
- 1 x Manifold Assembly
- 1 x Small suction cup bracket assembly
- 4 x Air Nodes with 110 mm suction cups
- 1 x Large suction cup bracket assembly
- 4 x 8mm Air Tubes (275 mm)
- 1 x 12 mm double Air Tube (3.63m)
- 1 x Tool and hardware for installation on UR20
- (1) x PowerPick20 Vacuum Generation Unit
- 1 x PowerPick20 Controller (vacuum generator)
- 1 x Mounting bracket assembly & Filter Regulator
- 1 x M12-12 pin I/O Cable
- 1 x Grommet and pneumatic fitting for installation on PE20
- 1 x Hardware for protective earth electrical connection
- 1 x Pneumatic accessories kit (valve, regulator, filter)

2. SAFETY & WARNINGS
The operator(s) must have read and understood all of the Safety section in the user
manual (available at support.robotiq.com).
The entire cell must go through a comprehensive risk assessment process before it can
be used.
Do not turn on or operate the Palletizing Solution before making sure the device is firmly
anchored and the machine area is cleared. Make sure that the air supply source is
secured.
Make sure to follow all safety rules and regulations of your workplace. Always wear all
recommended personal protective equipment in accordance with your workplace safety
standards.
Failure to properly secure and install the equipment can result in material damage and
bodily injury.
3. REQUIRED TOOLS AND EQUIPMENT
Included
Not included
•1 x 1/2 in x 6 in concrete drill bit
•1 x 13 mm socket, 3/8 in square drive
•1 x 16 mm socket, 3/8 in square drive
•1 x 17 mm socket, 3/8 in square drive
•1 x 3/4 in socket, 3/8 in square drive
•1 x 8 mm hex bit socket, 3/8 in square drive
•1 x 10 mm hex key, L-shape
•1 x 5 mm hex key, L-shape
•1 x 2 mm hex key, L-shape
•1 x 8 mm / 10 mm double-ended wrench
•1 x 2.4 mm flat screwdriver
•Included with PowerPick20:
• 1 x 6 mm hex key, L-shape
• 1 x 21 mm / 24 mm double-ended wrench
•Forklift or pallet jack (minimum fork length
of 1065 mm [42 in])
•Hoisting equipment (minimum payload
capacity of 200 kg [440 lb])
•2 x Twisted eye web sling (minimum payload
capacity of 100 kg [220 lb])
•Power screwdriver
•#2 Phillips bit (or #2 Robertson bit)
•Utility knife
•3/8 in drive ratcheting socket wrench or
adapter
•3/8 in drive torque wrench or adapter with
minimum torque range of 15 - 84 Nm (11 - 62
lb-ft)
•Rotary hammer drill
•Hammer

4. UNBOXING
The transport, lifting and moving of the Palletizing Solution should be done by
qualified and authorized personnel. Failure to do so may result in machine
damage, serious injuries or death.
Installation hazard:
●DO NOT install this equipment without having read and understood the
Robotiq PE20 User Manual.
●DO NOT install this equipment without having the proper training and
experience.
●DO NOT install any robot other than the Universal Robots UR20.
Failure to follow these instructions and to properly secure or install the equipment
can result in material damage, death or serious injury. The warranty will not cover
material damage resulting from an installation that does not comply with the
instructions found in this manual.
1. Remove the top panel and the four (4) sides of the crate by removing the screws that
hold them into place.
2. Remove the cardboard box (or boxes) from the shipping crate and open the box
containing the accessory kit.
3. Cut and remove the strapping material.
4. Remove the operator station and removable stopper from the crate.
5. Before removing the pedestal from the shipping crate, use it to measure the cable
length needed to reach the robot arm on one end, and the UR control box on the
other end. Here’s how:
a. Bundle the cable as shown in the figure below. Make sure to leave
approximately 150 mm (6 in) of cable on the top side and approximately 450
mm (18 in) on the bottom side. Do not insert the cable in the pedestal.

b. Temporarily secure the cable by attaching it to the pedestal using a long zip tie.
6. Use a 17 mm wrench to remove the lag bolt securing the top plate of the pedestal.
7. Remove the pedestal from the crate. It is recommended to use proper hoisting
equipment to perform this operation.
8. Place the pedestal on a piece of cardboard to prevent damaging the unit.
Make sure that the pneumatic tube and the ground cable located inside the base
of the pedestal are not pinched during this operation. The weight of the pedestal
is approximately 54 kg (119 lb). Proceed with caution.
9. Remove the screws that hold the wooden frames to the crate.
10. Remove the wooden frames.
11. Use a 17 mm wrench to remove the four (4) lag bolts that hold the base of the
Solution to the bottom of the crate.

12. Use a forklift to lift the base from the aisle side (i.e., the side where the Robotiq
control box is located).
13. Place the solution on shims with a thickness of at least 10 mm (3/8 in). (The two (2)
wooden frames can be used as shims for this step.)
Make sure that the shims are not beneath the two L-shaped aluminum brackets
located at the conveyor side of the base. The weight of the base is approximately
82 kg (180 lb). Proceed with caution.
14. Remove the two (2) L-shaped aluminum brackets using a 16 mm wrench.

5. MECHANICAL & ELECTRICAL INSTALLATION
Main steps
A. Pedestal Installation
B. Robot Installation
C. UR Control Box Installation
D. Pneumatic Tubing Installation
E. Grounding of the Pedestal
F. Grounding of the Operator Station
G. Power and Control Connections
H. Operator Station Installation
I. Centering the Solution
J. PowerPick 20 Installation (only for SOL-PAL-UR-VAC-PE20)
K. Cable Management System
L. Box Sensor(s) Installation
M. Moving and Positioning the Solution
N. Anchoring the Solution
O. Finalization and Power On
P. Joint Limits Setting
For details of each step, refer to the corresponding section below.

A. Pedestal Installation
1. Screw the removable stopper to the base of the Solution using the four (4) M12 x 30
hex cap screws. Do not fully tighten the screws.
2. Use a forklift truck or pallet truck to lift the base and remove the shims underneath it.
3. Place the base directly on the ground.
4. Fully tighten the four (4) M12 x 30 hex cap screws to a torque of 84 Nm (62 lb-ft),
making sure the tabs are in contact with the base, as shown in the figure below.
5. Run one of the slings through the openings on the flange of the pedestal, as shown
in the figure below.
6. Using hoisting equipment, lift the pedestal vertically so that it stands above the base.
7. Carefully align the notch in the pedestal base plate with the hex cap screw already
installed on the base.
8. Secure the pedestal to the base using the four (4) M12 x 30 screws provided.
Tighten to a torque of 84 Nm (62 lb-ft).

B. Robot Installation
1. Slide the bundled cable inside the pedestal (see section 4. Unboxing).
2. From the outside, attach the wrapped cable to the flange of the pedestal using a
long cable tie.
3. Use the rubber plug found in the robot box to close off the hole commonly used to
run the robot pigtail cable through the robot base.
4. Connect the robot to the cable before fully seating it on the flange of the pedestal.
5. Use the two (2) dowel pins to position the robot so that the hole that was previously
plugged is oriented towards the “L” and “R” decals on the pedestal (aisle side).

6. Secure the robot base using the six (6) M10 x 30 screws and the six (6) serrated
Belleville washers; tighten to the torque specified by UR (please refer to the UR20
user manual). Make sure that the convex part of the washer is at the bolt end of the
assembly.
C. UR Control Box Installation
1. Use a 5 mm hex key to remove the four (4) screws securing the two (2) legs of the UR
control box
2. Disconnect the UR teach pendant connector and remove it from the UR control box.
3. On the Palletizing Solution base, remove the two (2) M8 x 20 hex cap screws securing
the UR control box support plate, using the 13 mm socket supplied and the socket
wrench.
4. Remove the plate from the base by opening and closing it while lifting.
5. Fasten the UR control box to the control box support plate using the four (4) screws
that were previously removed. Make sure that the cabinet door is on the side
opposite to the retaining tabs.