ROBOTIQ AX10 Bedienungsanleitung

Robotiq AX10 Palletizing Solution

for Universal Robots

User Manual

ROBOTIQ AX10

PALLETIZING SOLUTION

robotiq.com | leanrobotics.org

Original instructions (en)

AX10 Palletizing Solution

Table of Contents

Revisions 5

1. General Presentation 9

1.1. Palletizing Solution Components 9

2. Safety 12

2.1. Disclaimer 12

2.2. Risk Assessment 13

2.3. Use of the Solution 19

3. Installation 25

3.1. Scope of Delivery 26

3.2. Required Tools and Equipment 28

3.3. Environmental and Operating Conditions 30

3.4. Mounting and Installation 31

3.5. Other Grippers 65

3.6. URCap Package 68

3.7. Robot Configurations 69

4. Operation 71

4.1. Start Up 71

4.2. Palletizing Operation Instructions 72

4.3. Palletizing Operation Diagrams 73

4.4. Status Light States 74

5. URCap Software 76

5.1. License Agreement 76

5.2. Copilot 79

5.3. Command Window 81

5.4. Program Tree 104

5.5. Palletizing Script Functions 113

6. Safety Devices 119

6.1. General Operation 119

6.2. Nomenclature 119

6.3. Connections 122

AX10 Palletizing Solution

7. Specifications 129

7.1. Technical Dimensions 129

7.2. Mechanical Specifications 130

7.3. Electrical Specifications 131

8. Periodic Inspection and Maintenance 133

8.1. Power Off and Lock Off Procedure 133

8.2. Linear Axis 134

8.3. Fastener Specifications 135

8.4. Cleaning 136

8.5. Storage 136

9. Spare Parts, Kits and Accessories 137

9.1. PowerPick10 (Optional Gripper) Spare Parts & Accessories 138

10. Troubleshooting 140

10.1. Palletizing Solution (excluding the PowerPick10 Vacuum Gripper) 140

10.2. PowerPick10 Vacuum Gripper (Optional) 144

11. Warranty 145

12. Harmonized Standards 147

12.1. EC Declaration of Incorporation 147

12.2. Identification plate 149

13. Appendix 150

13.1. Palletizing Cell Layout 150

13.2. Pneumatic Diagram 153

14. Contact 154

AX10 Palletizing Solution

Revisions

Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in

specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this

manual online at robotiq.com/support.

2024/02/22

Updated several sections to account for changes made to the AX10 palletizer to accommodate the new version of the

PowerPick10 Vacuum Gripper

lPowerPick10 Vacuum Gripper and Vacuum Generation Unit installation and specifications

lCable management system

lRobot installation

lElectrical installation

lMaintenance

lThe AXSeries Palletizing Solution is now referred to as the AX10 Palletizing Solution

2023/12/18

lNew software features added for Multi-recipe

lNew script functions added: Use Payload with Box, Use Payload No Box & Set Box Payload

2023/07/08

Updated several sections to account for the design and capabilities of the upgraded Linear axis controller, namely:

lInstallation procedure

lSafety measures & safety devices

lElectrical and mechanical specifications

lMaintenance & troubleshooting

Created the Safety Devices section to account for the configurations made possible with the update of the Linear axis controller.

2023/05/09

lMulti-recipe feature added in URCap Software section.

lPallet states updated in URCap Software section.

lGeneral re-organization of the multi-pick feature content.

lMove strategies updated (Snapping vs. Movement steps) in URCap Software section.

lUser interface update for Palletizer node.

2023/01/31

lAirPick Gripper is replaced by PowerPick Gripper. Sections are modified accordingly.

lMultipick feature added in Software section.

AX10 Palletizing Solution

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).

lImages of Configurable Outputs modified (Installation section).

2022/10/03

lLinear Axis Move images modified (Software section).

lMaximum value for Elbow joint limit changed from 0° to 3°. Minimum and maximum values for Wrist 3 joint limits changed from -

270° to -273° and 270° to 273° (Installation section).

lCable management material and installation modified (Installation section).

lCable management spare parts removed (Spare Parts, Kits and Accessories section).

2022/04/25

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

lAdded ''Add virtual planes around 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 Limits section

2022/02/03

lAdded Physical Clearance and Reachable Area of the Robot section

lUpdated Safety Connections section

2022/01/04

lAdded script functions

lUpdated Installation on Universal Robots e-Series section

lThe palletizer model is now named AX Series

2021/10/07

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

2021/09/22

lUpdated Safety Connections Appendix

lPink wire is now orange

AX10 Palletizing Solution

lUpdated Safety section to add information regarding Reduced mode

lUpdated Software section with more details for 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 Specifications section (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 Warranty section

lUpdate of the Installation section with new cable management instructions

lUpdate of Spare Parts, Kits and Accessories section

2021/03/29

lUpdate of the Software section: label orientation option added.

lUpdate of the Specifications section

lUpdate of the Installation section (Robot configurations)

2020/12/16

lUpdate of the safety section

lUpdate of the installation section

lUpdate of the specifications section

2020/11/30

Update of the Installation section.

2020/11/25

Initial release

AX10 Palletizing Solution

This manual and the product it describes are protected by the Copyright Act of Canada, by laws of 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 includes translation into another language or format.

Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed

by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after

the edition date.

The information contained in this document is subject to change without notice.

AX10 Palletizing Solution

1. General Presentation

The terms "Palletizer", "Palletizing Solution", "Robotiq Palletizing Solution", "Solution" and "AX10" used in this manual all refer

to the Robotiq AX10 Palletizing Solution for UR10e Universal Robots. The Robotiq AX10 Palletizing Solution is a hardware and

software solution preconnected and ready to install. It is composed of a base fully integrated with a linear axis, pallet sensors, and

status lights. The standard delivery also contains the Robotiq PowerPick10 Vacuum Gripper and Vacuum Generation 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

This section presents the key features of the Robotiq Palletizing Solution and must not be

considered as sufficient knowledge to operate the Solution. Each feature is detailed in the

appropriate section.

1.1. Palletizing Solution Components

Fig. 1-1: Robotiq AX10 Palletizing Solution

1.1.1. Base and Column

The Robotiq Palletizing Solution is composed of a base and a column on which all the components that are necessary to the good

operation of the Solution are attached.

The base has to be anchored to the floor. For more details, please refer to the Installation section

AX10 Palletizing Solution

1.1.2. Linear Axis

To extend the reach of the robot, a linear axis is installed inside the column. It allows the robot to move vertically in order to build

high pallets.

1.1.3. Linear Axis Controller

All the components of the Solution are integrated and controlled via the linear axis controller. It allows for the simultaneous

motion of both the axis and the robot during a palletizing process, and the control of the pallet sensors and status lights.

1.1.4. Pallet Sensors

The Solution is composed of four (4) sensors used to detect pallet presence (two per pallet). The sensors will allow the Solution to

ensure that the pallets are well positioned on each side of the base to optimize the application process.

1.1.5. Status Lights

Two (2) status lights are positioned at the top of the base. Each status light is associated with the nearest pallet. The color of the

light gives information on the status of the system or the state of a specific pallet. Please refer to the Status Light States section for

more information.

1.1.6. PowerPick10 Vacuum Gripper (Optional)

PowerPick10 is a vacuum gripper that uses a venturi system to generate vacuum from a compressed air energy source. The

PowerPick10 interfaces with the robot via input/output (I/O) cables connected directly to the robot controller.

The kit consists of a gripper, multiple suction cups and interchangeable components, along with a dual-channel vacuum

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

Its design is suitable for the Robotiq Palletizing Solution when used with a UR10e robot (weight, payload, independently

controllable channels).

Fig. 1-2: PowerPick10 Gripper and Vacuum Generator

Interchangeable Components

The PowerPick10 Gripper can be installed with various interchangeable components including suction cup brackets, an offset

plate, hollow offset links, a tubular wrist extension and various suction cups depending on the application, object material and

grasping requirements.

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