4.Operation
CAUTION
All information in thissection must be read and understood before using the Solution.
4.1.Start Up
Perform the following steps after the mechanical and electrical installation.
1. Make sure the URCap package isinstalled. Please refer to the URCap Package section for more information.
2. Configure the TCP. Use the appropriate valuesbased on the gripper configuration. Please refer to the Specificationssection
for more details.
3. Test the box sensor and the digital inputs: Place an object in front of the box sensor to validate if the signal changes in the
I/O interface of PolyScope..
4. Test the Vacuum Gripper: Make sure the compressed air issupplied. Go to the I/O interface in PolyScope and manually
activate the digital output (DO)that correspondsto the vacuum of the gripper. Repeat for the DO corresponding to the
blow off action of the gripper.
4.2.PalletizingOperationInstructions
WARNING
There isno emergency stop button directly on the Robotiq Palletizer. The emergency stop button
used by the Palletizing Solution is the one found on the robot’s teach pendant. Make sure
operators know how to stop the Solution in case of emergency.
The following section explains the logical operation of the Palletizing Solution based on the operator'sactions, as well as
responses such as signals, pallet and box sensor behaviors, etc. These steps are also represented in the form of diagrams in the
Palletizing Operation Diagramssection.
1. Once the program is selected:
a. Tap the Playbutton on the robot teach pendant.
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If the Validate pallet state at program startup option is checked in the Palletizer node settings, the Confirm
current pallet state window will appear on the robot teach pendant. Enter the pallet state and tap OK. The
Palletizer will then start palletizing.
2. The operator has access to a Pause button and a Restart button, both available on the push button enclosure. If an accident
occurs, an emergency stop button isalso present on the robot teach pendant.
3. When using the Confirm new pallet(s)readybutton:
a. Once a pallet is full, the statuslight will turn solid blue or blinking blue (see StatusLight Statessection for all the
information about light states).
b. Remove the full pallet and place an empty one.
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