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Palletizer for AUBO Robots - Installation Manual
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Ver. 1.7
Electrical gripper
The system further supports the use of mechanical grippers.
Outputs:
DO_02: MechanicalGripper, high signal = close gripper
DO_03: MechanicalGripper, high signal = open gripper (an inverted version of U_DO_D02)
4.2.
Wiring the photoelectric sensors
One photoelectric sensor is placed on each corner of the palletizer base to detect pallets. One
additional photoelectric sensor is placed on the conveyor to detect when a package present (see
figure 9). If using sheets, a photoelectric sensor is placed at the sheet station to detect when sheets
are present. For single/double conveyors sensor placement, see figure 10 and 11 on the following
page.
Sensor example:
SICK
GL6-P4211
+
reflector
Figure 9: Placement of photoelectric sensors
