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.

6. Secure the assembly to the base by inserting the retaining tabs in their respective
cutouts.
7. Tilt the control box back and forth to reassemble the hinging mechanism.
D. Pneumatic Tubing Installation
1. Remove the two (2) M8 x 20 hex cap screws to tilt back the Robotiq control box.
2. Tilt back the UR control box.
3. Take the 12 mm pneumatic tubing out of the base of the pedestal.
4. Connect the free end of the pneumatic cable to the push-to-connect bulkhead inside
the base on the conveyor side.
5. Using a cable tie, secure the pneumatic cable to the cable tie mount on the cable
compartment side.
E. Grounding of the Pedestal
Three (3) components should be grounded: 1) the Robotiq control box, 2) the pedestal,
and 3) the operator station. The Robotiq Control Box is already grounded. When
grounding the other components, make sure that the eyelet connector of the control
box’s ground wire remains in place.

1. Using a 10 mm wrench, remove the M6 nut and the top lock washer from the main
ground stud inside the Robotiq control box bay.
2. Take one of the remaining ground wire (green) out of the pedestal base.
3. Slide the eyelet connector of the pedestal’s ground wire on the ground stud and
reinstall the lock washer and M6 nut.
4. Make sure that the eyelet connectors of all three (3) components (the Robotiq control
box, the pedestal and the operator station) are on the ground stud, in between the
two lock washers.
5. Tighten the M6 nut to a torque of 5 Nm (3.7 lb-ft).
F. Grounding of the Operator Station
1. Route the last ground wire to the base of the operator station post.
2. Using a 10 mm wrench, remove the M6 nut and one (1) lock washer from the ground
stud inside the base of the operator station post.
3. Slide the eyelet connector of the third ground wire on the ground stud inside the
base of the operator station post.
4. Reinstall the lock washer and the M6 nut.
5. Tighten the M6 nut to a torque of 5 Nm (3.7 lb-ft).
G. Power and Control Connections
1. Run the power cable provided with the robot through the hole on the conveyor side
of the base, and channel it through the cable gutter.
2. Connect the cable to the power entry connector of the Robotiq control box.

3. Secure the cable to the cable gutter using cable ties.
4. Connect the female power plug from the UR control box bay to the power entry
connector of the UR control box.
5. Connect the robot cable tucked into the pedestal to the UR control box.
6. Open the UR control box.
7. Connect the provided USB/Ethernet adapter directly to a USB port of the UR control
box.
8. Run the W200 Ethernet cable from the UR control box bay to the UR control box.
9. Connect the W200 Ethernet cable to the USB/Ethernet adapter.
10. Run the W103 cable from the Robotiq control box to the UR control box.
11. Wire the W103 cable in the UR control box based on the figure below.

Wire #
Function
Description
1
0 VDC
0 VDC supply
2
UR Safeguard input 2
Emits a safeguard status signal when a safeguard
device is connected to safeguard input SI1. To be
connected only when Optional safety kit is used.
3
UR Safeguard input 1
Emits a safeguard status signal when a safeguard
device is connected to safeguard input SI0. To be
connected only when Optional safety kit is used.
4
Stop Button Input
Emits a stop signal from the stop button in the
push button enclosure. Connected to a digital
input (DI1 in the example).
5
24 VDC
24 VDC supply
6
Start Button Input
Emits a start signal from the start button in the
push button enclosure. Connected to a digital
input (DI0 in the example).

12. Run the box sensor cable(s) through the opening located on the conveyor side of the
Solution, and to the UR Control box.
13. Wire the box sensor cable(s) based on the configuration of the palletizing cell (Single
Box Type or Multiple Box Types / Multi-Pick Feature).
14. Connect the provided USB hub to the second USB port.
15. Connect the Copilot license dongle to one of the ports of the USB hub of the UR
control box.
16. Bring the operator station near the base of the Solution, on the aisle side.
17. Run the teach pendant cable through the opening on the lower section of the
operator station, and through the base.
To install the operator station remotely, do not route the teach pendant cable
through the opening on the lower section of the operator station. Instead route it
directly through the base opening on the aisle side.
18. Connect the teach pendant cable to the teach pendant connector of the UR control
box.
19. Run the W102 cable from the operator station to the base.
20. Connect the W102 cable to the W100 cable.
21. Run the W72 and W82 cables from the operator station to the base.
22. Connect the W72 cable to the W70 cable.
23. Connect the W82 cable to the W80 cable.
24. When all cables are routed inside the cable compartment, secure them to mounting
points using cable ties.
25. Put both control boxes back in place by tilting them forward.
26. Secure the support plate of each control box using four (4) M8 x 20 hex cap screws.

H. Operator Station Installation
●If the operator station needs to be attached to the base, fasten the post to the base
on the aisle side with four (4) M8 x 20 mm screws, using a 13 mm wrench. Tighten to
25 Nm (37 lb-ft). Tuck the excess cable inside the base through the opening.
●If the operator station needs to be anchored to the ground, use the three (3) provided
concrete wedge anchors. Tighten the nut of each anchor to 70 Nm (52 lb-ft).
I. Centering the Solution
This procedure needs to be performed before installing the vacuum gripper. It will
ensure the proper functioning of the Solution.
1. Connect the power supply cable to a power outlet.
2. Power on the robot.
3. Slightly loosen the four (4) screws that secure the column to the base. Unscrewing
the screws half a turn counterclockwise should provide enough clearance to allow for
the adjustment of the column’s orientation.
4. Rotate the column counterclockwise as much as possible.
5. Position the robot so that the wrist is on the outer left side of the base, as shown in
the figure below

.
6. Jog the robot so that the robot tool flange is parallel to the ground.
7. In the Installation tab, set the TCP value to [0, 0, 0].
8. In the Move tab, in the base reference frame, move the robot using the following
values: X=447 mm, Y=-525 mm, Z=-1325 mm.
9. Rotate the column clockwise so that the side of the robot wrist touches the painted
surface on the side of the base, as depicted in the figure below.
10. Tighten the four (4) screws to secure the pedestal to the base. Tightening torque
must be 84 Nm (62 lb-ft).
11. On the teach pendant, confirm that the X value of the current position is
447 mm (+/-1mm), and the wrist is still in contact with the painted surface on the side
of the base.
12. When the X position is within the specified range, remove the M12 x 30 screws, one at
a time, apply threadlocker on the threaded part of the screws, and retighten to 84
Nm (62 lb-ft).
J. PowerPick 20 Installation (only for SOL-PAL-UR-VAC-PE20)

To streamline the installation of grippers and accessories, power on the robot and rotate
the joints as described in the table below, then power off the robot.
Joint
Position
Base
-90°
Shoulder
-190°
Elbow
-15°
Wrist 1
-65°
Wrist 2
-90°
Wrist 3
90°

PowerPick20 Vacuum Generation Unit
1. Loosen the two (2) M8 x 20 hex head cap screws,
intended to hold the vacuum generation unit, until
their head is at a distance of approximately 4 mm
(3/16 in) from the surface.
2. Slide the vacuum generation unit onto the two (2)
M8 x 20 hex head cap screws.
3. Tighten the screws using the provided 13 mm socket.
4. Remove the pneumatic plug from the bulkhead fitting located on the pedestal using
the provided 10 mm hex key.
5. On the bulkhead fitting, install the 1/2 BSPP to 12
mm tube pneumatic elbow fitting (provided) using
the 21 mm / 24 mm double-ended wrench. Tighten
to 26 Nm (19 lb-ft).
6. Remove the plug at the end of the 12 mm air tube providing pneumatic pressure to
the vacuum generation unit.
7. Insert the end of the 12 mm air tube into the elbow fitting.
8. Push the air tube until it stops.
9. Using a 13 mm wrench, remove the two (2) M8 x 20 hex head cap screws from the UR
control box support plate.
10. Tilt back the UR control box support plate and open the UR control box.
11. Remove the grommet on the pedestal.
12. Run the open end of the M12-12 pin I/O cable through the opening and down into the
cable compartment.
13. Route the M12-12 pin I/O cable inside the UR control box.
14. Plug the hole on the pedestal using the pre-perforated grommet attached to the I/O
cable.
15. Tuck any excess cable inside the pedestal.
16. Connect the M12 connector of the I/O cable to the PowerPick20 Controller at the port
identified as DEVICE CONTROL.

17. Connect the open end of the I/O cable to the robot control box according to the
table and figure below. The figure shows an example of which terminal can be used
as a reference only.
Color
Connection
Function
Red
AG (Analog Ground)
0V Pressure Sensor #1 (S1)
Violet
AI (Analog input)
AI Pressure Sensor #1 (S1)
Red/Blue
AG (Analog Ground)
0V Pressure Sensor #2 (S2)
Gray/Pink
AI (Analog input)
AI Pressure Sensor #2 (S2)
Blue
0V
0V DC
Pink
DO (Digital Output)
Suction #1 (Y1)
Yellow
DO (Digital Output)
Suction #2 (Y2)
Black
DO (Digital Output)
Blow off #1 (Y3)
Gray
DO (Digital Output)
Blow off #2 (Y4)
Brown
24V
24V DC
Green
GND (Ground)
Ground
18. Complete the ground (GND)
connection by securing the green
cable’s ring connector to a M6
protective earth stud with the
provided two (2) M6 external-tooth
lock washers and one (1) M6 flange
nut (tool not supplied). Follow the
stack-up shown on the right. Make
sure the nut is tight enough to
ensure the lock washers are properly
engaged.