Warning
When the robot is not moving, the collaborative collision detection is disabled. If the linear axis moves, it can hurt people with
the robot.
Warning
Depending on the supply sources, when an emergency stop (e-Stop) button is pressed, the following consequences may
occur. The robot owner has the responsibility to do a risk assessment and choose the appropriate option.
Supply sources e-Stop consequences
Robot tool supply
(tool connector)
Power failure to the Vacuum Gripper. The vacuum level will drop to ambient pressure and
the object will be lost.
Caution
For the Palletizing Solution, it is not recommended to connect the Gripper to
the tool connector.
Robot controller supply*
(Any 24V pin)
Vacuum Gripper powered ON.
lIf an object is detected: the vacuum level will continue to be regulated and the object will
not be lost.
lIf no object is detected: the Vacuum Gripper will go into a standby state 2 seconds after
the e-Stop button is pressed.
*The AirPick Vacuum Gripper that comes with the Robotiq Palletizing Solution is connected via the robot controller.
Warning
Loss of vacuum can occur due to power failure or air supply interruption.
2.3.1. Expected system behavior in normal operations:
lNormal mode: when no human operator is present within the palletizing cell.
lSafeguard mode: when a human operator is present within the palletizing cell in order to manipulate a filled pallet, place pallets in an
empty pallet slot or troubleshoot the system or any other operations requiring human intervention. In such a state the robot will be
maintained in a stop category 2 and the linear axis will undergo stop category 1 transitioning to stop category 0*. When the safe-
guards are removed, the system will resume normal operation.
Info
See IEC 60204-1 for definitions of stop categories.
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