FinalizationandPowerOn
If pneumatic power is needed, or if a PowerPick Vacuum Gripper isused, compressed air should be supplied at the inlet port on
the conveyor side of the base. The port thread size isBSPP1/2 (G 1/2).
Should the Solution need to be moved occasionally, a quick connect adapter can be installed. A BSPP1/2 (G 1/2) to NPT 1/2
adapter is provided with the kit.
1. Connect the power cable to the power outlet.
2. Pressurize the system using the shut-off valve if needed.
3. Turn on the main power switch located on the Robotiq control box.
4. Power on the robot.
WARNING
Make sure to perform a risk assessment before using the Solution.
For more details, refer to the Safetysection.
3.4.4.Conveyor
The Robotiq Palletizing Solution does not come equipped with a conveyor. However, the palletizing cell, as construed in this
instruction manual, includes a conveyor. It is thus important to enforce standard EN 619 (or the equivalent in your region).
CAUTION
The appropriate safety clearance between the conveyor and the pallet must comply with the
distancesset forth in the layout.
3.4.5.PhysicalClearance and Reachable Areaof the Robot
The computed trajectoriesallow the boxesor the robot to overrun the edges of the pallet when the robot movesthe boxesto
their final position. Mitigation measures can be put in place to prevent a transient or quasi-static impact between a box, or the
robot itself, and an operator. Below are some examples:
l
Physical assets such as guardrails and bollards, which prevent the operator from accessing the area.
l
Sensors such aslight curtains or area scanners which can detect the presence of a person, and stop the system before that
person reachesthe danger zone.
l
Add virtual planesaround pallet(s)option available in the Settings tab of the Palletizer node of the Robotiq URCap to contain the
overrun within a certain distance of the pallet. Please refer to Palletizer Node section to learn more about thisoption.
For PE20, the boxeswon't overrun over the pallet edges if the height of the pallet is greater than 12cm (4.75in). However, for
smaller pallets, potential overrun can be determined by the following formula:
Front overrun
The potential front overrun is the highest value obtained using the following formula:
Potential front overrun (mm) = max (0.1 x box height, 1280 - pallet depth, 180 + extra bracket reach + (0.1 x box height) - (minimum
horizontal box dimension /2))
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