ROBOTIQ PE20 Manuel utilisateur

Robotiq PalletizingSolution- PESeries

for Universal Robots

User Manual

ROBOTIQ PALLETIZING SOLUTION

PE20

robotiq.com | leanrobotics.org

Original instructions(en)

Tableof Contents

Revisions 4

1. General Presentation 6

1.1. Palletizing SolutionComponents 6

2. Safety 8

2.1. Disclaimer 8

2.2. RiskAssessment 9

2.3. Use of the Solution 15

3. Installation 20

3.1. Scope of Delivery 21

3.2. Required Toolsand Equipment 23

3.3. Environmental and Operating Conditions 24

3.4. Mounting and Installation 25

3.5. OtherGrippers 58

3.6. URCap Package 60

3.7. Robot Configurations 61

4. Operation 63

4.1. Start Up 63

4.2. Palletizing OperationInstructions 63

4.3. Palletizing OperationDiagrams 65

4.4. StatusLight States 66

4.5. SolutionMobility(WashDownand ProductionLine Shifts) 67

5. URCap Software 73

5.1. License Agreement 73

5.2. Copilot 76

5.3. Command Window 77

5.4. Program Tree 98

5.5. Palletizing Script Functions 107

6. Specifications 111

6.1. Technical Dimensions 111

6.2. Mechanical Specifications 112

6.3. Electrical Specifications 113

7. PeriodicInspectionand Maintenance 115

7.1. PowerOff and LockOff Procedure 115

7.2. Inspection 116

7.3. FastenersSpecifications 119

7.4. Cleaning 120

7.5. Storage 120

8. Spare Parts, Kitsand Accessories 121

9. Troubleshooting 122

9.1. Palletizing Solution(excluding the PowerPick20 Vacuum Gripper) 122

9.2. PowerPick20 Vacuum Gripper (Optional) 125

9. Warranty 126

10. Harmonized Standards 128

10.1. EC Declarationof Incorporation 128

10.2. Identificationplate 130

11. Appendix 131

11.1. Palletizing Cell Layout 131

11.2. ConveyorPositioning Holes 133

11.3. Overhang Spacers 134

11.4. PneumaticDiagram 135

12. Contact 136

Revisions

Robotiq may modify thisproduct without notice, when necessary, due to product improvements, modificationsor changesin

specifications. If such modificationsare made, the manual will also be revised. See revision information below. The latest version of

thismanual can be downloaded at support.robotiq.com.

2023/09/05

Initial Release

Thismanual and the product it describesare protected by the 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, Robotiq shall accept no

responsibility for itsuse. There maybe some differencesbetween the manual and the product if the product hasbeen modified

after the editing date.

The information contained in thisdocument issubject to change without notice.

1.GeneralPresentation

The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" , PE20 and "PE Series" used in this

manual all refer to the PE Series Robotiq Palletizing Solution for UR20 Universal Robots. The PE Robotiq Palletizing Solution is a

hardware and software solution preconnected and ready to install. It is composed of a base fully integrated with a Robotiq control

box, pallet sensors, a pedestal, and a post with a teach pendant rack and status lights. The standard delivery also contains the

Robotiq PowerPick vacuum gripper and vacuum generator unit. The Material Handling Copilot software and accessories(e.g., box

sensor, anchor kit, cable management system, etc.)are also part of the Solution.

CAUTION

Thissection presentsthe keyfeaturesof the Robotiq Palletizing Solution and must not be

considered assufficient knowledge to operate the Solution. Each feature isdetailed in the

appropriate section.

1.1.PalletizingSolutionComponents

Fig. 1-1: PE20 Robotiq Palletizing Solution

1.1.1.Base,PedestalandPost

The Robotiq Palletizing Solution iscomposed of abase, on which apedestal, pallet sensorsand Robotiq control box are mounted,

and apost, on which ateach pendant rack, a push button enclosure, and statuslightsare mounted. 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.RobotiqControlBox

All the componentsof the Solution are integrated and controlled viathe Robotiq control box.It allowsfor the motion of the robot

during a palletizing process, and the control of the pallet sensorsand statuslights.

1.1.3.Standalone Post

The Solution includesapost to which apush button enclosure, statuslightsand teach pendant rack are attached. The post can

either be mounted to the base or positioned elsewhere,adjacent to the base.

1.1.4.Pallet Sensors

The Solution iscomposed of two (2)sensorsused to detect pallet presence (one for each side of the solution).

1.1.5.StatusLights

Two (2)statuslightsare positioned at the top of the post adjacent to the base. Each statuslight isassociated with 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 Status

Light Statessection for more information.

1.1.6.PowerPick20 VacuumGripper(Optional)

PowerPick20isa vacuum gripper that usesa venturi system to generate vacuum from a compressed air energy source. The

PowerPick Gripper interfaceswith the robot viainput/output (I/O)cablesconnected directlyto the robot controller.

The kit consistsof a gripper, multiple suction cupsand interchangeable components, along with a dual-channel vacuum

generation unit. The unit also includesa shut-off valve and an integrated filter regulator.

Itsdesign issuitable for the Robotiq Palletizing Solution when used with a UR20 robot (weight, payload, independently

controllable channels).

Fig. 1-2: PowerPick20Gripper and vacuum generation unit

1.1.7.BoxDetectionSensor

The Solution includesabox sensor that needsto be installed at the end of the conveyor, and positioned so that it triggersasignal

when a box isat the picking position.

Fig. 1-3: Box Sensor

2.Safety

2.1.Disclaimer

The intent of thissection isto provide general guidelinesfor the safe use of the Robotiq Palletizing Solution.

Alwaysfollow local regulations.

The installer isresponsible for the safe installation and commissioning of the Palletizing Solution.

Robotiq acceptsno liability for damage, injury or any legal responsibility incurred directly or indirectly from the use of thisproduct.

The user (installer and operator) shall observe safe and lawful practices including but not limited to those set forth in this

document.

The termsuser,operator and installer, 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 detailsthe componentsof the Robotiq Palletizing Solution, and the general operationsregarding the whole lifecycle

of the product, from installation to operation and decommissioning.

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

visual supportsand the actual product.

2.2.RiskAssessment

2.2.1.GeneralRiskAssessment

WARNING

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

operating the Robotiq Palletizing Solution. Any use of the Palletizing Solution in non-compliance with

these instructionsisdeemed inappropriate and may cause injury or damage.

It isthe user'sresponsibility to ensure that all local safety measuresand regulationsare met.

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

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

In order to make the palletizing cell collaborative, several aspectsshould be taken into consideration. All cellsbeing different, it is

important to perform a risk assessment and to enforce the required standards. Please note that the resultsof the risk assessment

depend on the usage and application.

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 anymoving 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.

lRisk of damaged objectsor injuryresulting from a collision between an object and the robot, the gripper or the boxes.

lRisk of injury resulting from a collision between a person and the Solution.

Additional hazardsmay be present, depending on the configuration and what isbeing palletized. For instance, the object handled

by the gripper could be inherentlydangerousto the operator.

To ensure an adequate level of safety, floor markingsmust be applied to delineate safe zonesaround the Solution. It isthe

responsibility of the integrator to establish the proper safe distance from the Solution to protect the user.

DANGER

A collision between a person and the Solution mayresult in material damage, bodily injury and even

death. Make sure anyone working around the Palletizing cell takesall necessaryprecautions:

lBefore starting the machine, make sure there isenough clearance around the Palletizer and make

sure no one isin the work areaof the Solution.

lDuring palletization, it ispossible to accessthe cell from all sides. The customer hasto assessthe

risksaccordingly.

2.2.2.EmergencyStop

WARNING

There isno emergencystop button directlyon the Robotiq Palletizer. The emergencystop button

used by the Palletizing Solution isthe one found on the robot’steach pendant. Make sure

operatorsknow how to stop the Solution in case of emergency.

Depending on the supply source, when the emergencystop (e-Stop)button ispressed, the following consequencesmayoccur.

The user hasthe responsibility to perform a risk assessment and choose the appropriate option.

Supply

Source Behavior

Robot

control

boxsupply

(any24V

terminal)

The Vacuum Gripper ispowered on.

lAn object isdetected: the vacuum level will continue to be regulated and the object will not be lost.

Note: the PowerPick gripper (optional)connectsto the robot control box supply.

Robot tool

supply(tool

connector)

Power failure to the Vacuum Gripper.

lThe vacuum level will drop to ambient pressure and the object will be lost.

It isnot recommended to connect the Vacuum Gripper to the tool connector.

CAUTION

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

2.2.3.NoiseLevel

At optimal pressure (see Specificationssection), the noise level at the workstation is75.5dBa. Hearing protection isrecommended

but not required. Make sure that all local safety measuresand regulationsare met.

Noise levelsshould be measured regularlyunder normal operating conditions.

2.2.4.CyberRisk

lThe customer must provide asafe firewall connection to avoid unauthorized remote control of the robot.

lThe customer must set apassword to avoid unauthorized accessto the robot safety configurations.

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