ROBOTIQ AX SERIES User manual

Robotiq PalletizingSolution - AX Series

for Universal Robots

Instruction Manual

ROBOTIQ PALLETIZING SOLUTION

AX Series

robotiq.com | leanrobotics.org

Original Notice

Palletizing Solution - Instruction Manual

Tableof Contents

Revisions 5

1. General Presentation 9

1.1. Palletizing SolutionComponents 9

1.2. Palletizing OperationDiagrams 11

2. Safety 13

2.1. Disclaimer 13

2.2. Intended Use 14

2.3. Warnings, RiskAssessment and Final Application 15

3. Installation 20

3.1. Scope of Delivery 21

3.2. Required Toolsand Equipment 22

3.3. Environmental and Operating Conditions 23

3.4. Mounting and Installation 24

3.5. OtherGrippers 46

3.6. InstallationforUniversal Robots 48

3.7. URCap Package 48

3.8. Robot Configurations 55

3.9. License Agreement 58

4. Operation 61

4.1. Starting Up 61

4.2. Light States 62

5. Software 64

5.1. Installation 64

5.2. MultipickFeature 66

5.3. Program 66

5.4. Wiring the MultipickFeature 85

5.5. Palletizing Script Functions 86

6. Specifications 91

6.1. Technical Dimensions 91

6.2. Mechanical Specifications 92

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6.3. Electrical Specifications 96

7. Maintenance 99

7.1. LinearAxis 100

7.2. Fasteners 101

7.3. PowerPickVacuum Gripper 102

7.4. Cleaning 102

7.5. SolutionStorage 102

8. Spare Parts, Kitsand Accessories 103

9. Troubleshooting 105

9.1. Palletizing Solution(except the PowerPickGripper) 105

9.2. PowerPickVacuum Gripper 109

10. Warranty 110

11. Harmonized Standards 112

11.1. Applied Standards 112

11.2. EC Declarationof Incorporation 113

12. Appendix 114

12.1. Anchoring Pattern 114

12.2. SafetyConnections 115

13. Contact 117

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Palletizing Solution - Instruction Manual

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Palletizing Solution - 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).

lLink for action associated to red slow blink light modified (Operation section).

lLink for action associated to yellow solid light modified (Operation section).

lImagesof Configurable Outputsmodified (Installation section).

2022/10/03

lLinear AxisMove imagesmodified (Software section).

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).

lCable management spare partsremoved (Spare Parts, Kitsand Accessoriessection).

2022/04/25

lAdded warning note for Moving and Positioning the Solution (Installation section).

lAdded ''Add virtual planesaround pallet(s)'' option (Installation and Software sections).

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

lAdded Robot Limitssection

2022/02/03

lAdded Physical Clearance and Reachable Area of the Robot section

lUpdated SafetyConnectionssection

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2022/01/04

lAdded script functions

lUpdated Installation on Universal Robotse-Seriessection

lThe palletizer model isnow named AX Series

2021/10/07

lUpdated Center of mass, tool center point (TCP)table

2021/09/22

lUpdated Safety ConnectionsAppendix

lPink wire isnow orange

lUpdated Safety section to add information regarding Reduced mode

lUpdated Software section with more detailsfor the pick position

2021/08/03

lUpdate of the Software section

lAdded Depalletizing mode to Palletizer node

lUpdated info on the Limit height for Palletizer program node

lAdded section 5.2(Palletizing script functions)

2021/07/14

lUpdate of the Specificationssection (Center of mass, tool center point table)

lUpdate of the Appendix section (Safety Connections)

lUpdate of the Software section

lUpdate of the Troubleshoot section

lUpdate of the Warrantysection

lUpdate of the Installation section with new cable management instructions

lUpdate of Spare Parts, Kitsand Accessoriessection

2021/03/29

lUpdate of the Software section: label orientation option added.

lUpdate of the Specificationssection

lUpdate of the Installation section (Robot configurations)

2020/12/16

lUpdate of the safety section

lUpdate of the installation section

lUpdate of the specificationssection

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Palletizing Solution - Instruction Manual

2020/11/30

Update of the Installation section.

2020/11/25

Initial release

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Copyright

Thismanual and the product it describesare protected bythe 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 maybe 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 - Instruction Manual

1.GeneralPresentation

The terms Palletizer,Palletizing Solution,Robotiq Palletizing Solution,Solution and AX Series used in this manual all refer to the

AX SeriesRobotiq Palletizing Solution. The AXRobotiq Palletizing Solution isa hardware and software solution already connected

and ready to install. It is composed of a base fully integrated with a linear axis, pallet sensors, 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: AXSeriesRobotiq Palletizing Solution

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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.BaseandColumn

The Robotiq Palletizing Solution iscomposed of a base and a column on which all the componentsthat are necessaryto the good

operation of the Solution are attached. The Solution isdesigned to facilitate the positioning of pallets. The base hasto be

anchored to the floor. For more details, please refer to the Installationsection

1.1.2.LinearAxis

To extend the reach of the robot, alinear axisisinstalled inside the column. It allowsthe robot to move vertically in order to build

high pallets.

1.1.3.LinearAxisController

All the componentsof the Solution are integrated and controlled viathe linear axisController. It allowsfor the simultaneous

motion of both the axisand the robot during a palletizing action, and the control of the pallet sensorsand statuslights.

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 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 Statessection for more

information.

1.1.6.PowerPickVacuumGripper(Optional)

The PowerPick isa Vacuum Gripper that createsavacuum with aventuri system that usescompressed air asan energy source.It

comeswith itsexternal controller, isequipped with multiple suction cupsand interchangeable components. Itsdesign is

optimized (weight, payload capability)for the Palletizing Solution when used with a UR10e robot.

Fig. 1-2: Robotiq PowerPick Gripper and Controller

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Palletizing Solution - Instruction Manual

1.1.7.BoxDetectionSensor

The Solution includesa box sensor that needsto be installed at the end of the conveyor in awaythat it istriggered when abox is

readyto be picked up.

Fig. 1-3: Box Sensor

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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Palletizing Solution - Instruction Manual

2.Safety

2.1.Disclaimer

The intent of this section is to provide general guidelines for safe use of the Robotiq Palletizing Solution, always follow local

regulations. The installer is responsible for the safe installation and commissioning of the Palletizing Solution. Robotiq accepts no

liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of this product. The user (installer

and operator)shall observe safe and lawful practicesincluding but not limited to those set forth in thisdocument.

Info

The termsoperator,installer,commissioning or installation refer to anyone responsible for anyof the following

operationson the Robotiq Palletizing Solution:

lInstallation

lControl

lMaintenance

lInspection

lCalibration

lProgramming

lDecommissioning

The present section isbased on the following international standardsand technical specifications:

lISO 10218-1:2011 : Safety RequirementsFor Industrial Robots- Robots

lISO 10218-2:2011 : Safety RequirementsFor Industrial Robots- RobotsSystemsand Integrators

lIEC 60204-1 : SafetyOf Machinery - Electrical Equipment Of Machines

lISO/TS15066:2016 : Robotsand robotic devices— Collaborative robots

Thismanual explainsvariouscomponentsof the Robotiq Palletizing Solution and the general operationsregarding the whole life-

cycle of the product, from installation to operation and decommissioning.

The drawingsand photosin thismanual are representative examples. However, discrepanciesmay be observed between the

visual supportsand the actual product.

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2.2.IntendedUse

The Robotiq Palletizing Solution isspecifically designed for palletization.

Warning

Only use the application in itsoriginal condition without unauthorised modifications.

Warning

Only use the application if it isin perfect technical condition.

Warning

The emergencystop function isintended for use in emergencyconditionsand not for normal condition stop.

Info

The Solution isintended to be used with a UR10 or UR10e from Universal Robots.

Info

Alwayscomplywith local, state, province and/or federal laws, regulation and directivesautomation safety and general

machine safety.

Caution

The unit should be used exclusivelywithin the range of itstechnical data. Any other use of the solution isdeemed

improper and unintended. Robotiq will not be liable for anydamagesresulting from any improper or unintended uses.

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Palletizing Solution - Instruction Manual

2.3.Warnings,RiskAssessment andFinalApplication

Warning

The operator must have read and understood all of the instructionsin the following manual before operating the

Robotiq Palletizing Solution.

Caution

Any use of the Palletizing Solution in non-compliance with these warningsisdeemed inappropriate and maycause injury

or damage.

The entire cell (i.e., the robot, the PowerPickVacuum Gripper or anyother gripper used, the linear axis, and anyother equipment

used in the final application)must go through a comprehensive risk assessment processbefore they can be used.

Caution

It isthe installer/operator'sresponsibility to ensure that all local safety measuresand regulationsare met.

The following non-exhaustive list presentsrisksthat must be assessed during the integration process:

lRisk of load ejection resulting from lossof vacuum;

lRisk of load dropping resulting from lossof vacuum;

lRisk of pinching any moving component of the Robotiq Palletizing Solution or the robot;

lRisk of damage or breaking if using a custom suction cup bracket that doesnot meet the technical requirements;

Depending on the application, there may be hazardsthat require additional protection and/or safety measures. For instance, the

workpiece handled by the gripper could be inherently dangerousto the operator.

Warning

The linear axisisNOT power and force limited. Pinching or crushing risk must be considered seriously.

Warning

When the robot isnot moving, the collaborative collision detection isdisabled. If the linear axismoves, it can hurt

people with the robot.

Warning

Do not leave anyitem or object between the boxesand the Palletizing Solution asthiscould cause collisions.

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Warning

Depending on the supply sources, when an emergencystop (e-Stop)button ispressed, the following consequencesmay

occur. The robot owner hasthe responsibility to do a risk assessment and choose the appropriate option.

Supplysources 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 isnot recommended to connect the Gripper to the

tool connector.

Robot controller

supply*

(Any24Vpin)

Vacuum Gripper powered ON.

lThe vacuum level will continue and the object will not be lost.

*The PowerPick Vacuum Gripper that comeswith the Robotiq Palletizing Solution isconnected via the robot controller.

Warning

Lossof vacuum can occur due to power failure or air supplyinterruption.

2.3.1.ExpectedSystemBehaviorinNormalOperatingConditions:

lNormal mode: The palletizer continuously fillspalletswhen no human operator iswithin the vicinity of the palletizing cell.

lSafeguarded mode: The system stopswhen a human operator enters the vicinity of the palletizing cell to manipulate a filled pal-

let, place palletsin an empty pallet slot, or troubleshoot the system or any other operationsrequiring human intervention. In such

a state the robot will maintain a Category 2 stop and the linear axiswill undergo a Category 1 stop transitioning to a Category 0*

stop. When the safeguardsare removed, the system will resume operation in normal mode.

Info

See IEC 60204-1 for definitionsof stop categories.

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Palletizing Solution - Instruction Manual

Emergency stop mode when the emergency stop button is pressed. All components of the system will undergo stop category 1

transitioning to stop category 0.

Operation mode

Robot LinearAxis

Force (N) Power(W) Speed

(mm/s) Force (N) Power(W) Speed

(mm/s)

Normal mode

(Up to safetylimits) up to 250 up to 1000 up to 5000 2400* 690

(nominal) 500

Protective stop 0

(Stop Cat 2)

Safeguard stop 0

(Stop Cat 2)

N/A

(Stop Cat 1 and transition to Cat 0)

Emergencystop N/A

(Stop Cat 1 and transition to Cat 0)

Reduced mode Please refer to the Universal Robotsuser manual

for more details.

The linear axisexhibitsthe same behavior in

Reduced and Normal modes. It isnot

recommended to use Reduced mode since

the linear axisisnot safety rated for

collaborative applications.

*Calculated using the following assumptions: static force at peak current with a 90%efficient ball screw and no friction.

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Fig. 2-1: Safety Logical Schema

Warning

In the event of acollision or after an emergencystop, an inspection of the solution must be performed before resuming

the use of the machine. Special attention must be given to the carriage assembly,the linear axis, the cable management

system, and the gripper components. Please contact Robotiq Support if any sign of damage isdetected.

2.3.2.LinearAxisStopCategory0 and1

When astop isrequired, the robot and the linear axisstart the processat the same time, even if they are independent, so the

stopping time can differ.

lFor robot information, please refer to the Universal Robotsdocumentation.

lFor the linear axis:

oMaximal stopping time for Category 1: 500 ms;

oMaximal stopping time for Category 0: 100 ms*;

oTravelled distance when there isa stopping time: 33 mm (1-5/16in)*

*For caseswhere the robot isimmobile, with apayload of 8 kg and the initial speed of the linear axisis500 mm/s, which isthe

maximum allowed speed.

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Palletizing Solution - Instruction Manual

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Palletizing Solution - Instruction Manual

3.Installation

The following subsectionswill guide you through the installation and general setup of your Robotiq Palletizing Solution.

Before installing:

lRead and understand the safety instructionsrelated to the Palletizing Solution.

lVerify your package according to the scope of delivery and your order.

lMake sure to have the required parts, equipment and toolslisted in Scope of delivery.

Warning

lWhen installing:

lMeet the recommended environmental conditions.

lDo not operate the Palletizing Solution, or even turn on the power supply, before the device isfirmlyanchored and

the machine areaiscleared. Make sure that the air supplyissecured.

lFailure to properly secure and install the equipment can result in material damage and bodily injury. In addition, note

that in situationswhere the installation isnot compliant, the warranty isvoid.

lWhen assembling or moving the Solution, make sure there isenough vertical and horizontal clearance all around so

you can avoid material damage and bodily injury.

Caution

lMake sure to follow all the safety rulesand regulationsof your workplace while using the Robotiq Palletizing Solution.

lAlwayswear all recommended personal protective equipment in accordance with your workplace'ssafety standards,

including:

oSafety glasses;

oHearing protection;

oHard hats;

oSteel-toe boots

lAlwaysuse proper safety precautionswhen working with toolsthat contain sharp edges, pinching surfaces, or generate

heat.

lAlwayslift heavyobjectswith your legs, not your back. If you can not lift an object alone, ask for help or find another

method to move it.

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ROBOTIQ AX SERIES User manual

ROBOTIQ AX SERIES User manual

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