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Palletizer for Universal Robots - User Manual 

–

 Ver. 1.0  

1.

 

Product Information 

The  UR  palletizer  system  is  divided  into  three  parts  and  elaborated  in  this  section:  UR  robot  & 
grippers, Pallet Pattern Generator, and Nordbo Palletizer URCap. 

 

1.1.

 

UR robot 

Information about the installation of the UR robot can be found in the manuals provided by your 
supplier when purchasing the robot.  

 

1.2.

 

Pallet Pattern Generator 

Pallet patterns can be created using Nordbo’s Online Pallet Pattern Ge

nerator, the online software 

used to generate the stacking patterns of the UR palletizer system. The online pattern generator can 
be accessed and used free of charge at 

pal.nordbo.io

.  

 

Figure 1: Pallet Pattern Generator interface 

 

 

Summary of Contents for Palletizer

Page 1: ...izer for Universal Robots User Manual Ver 1 0 Nordbo Robotics A S info nordbo robotics com Agerhatten 27A Entrance 4 45 81 81 98 81 5220 Odense Denmark Copyright 2020 Nordbo Robotics A S All Rights Re...

Page 2: ...a risk assessment and testing the specific application and setup Neither Nordbo Robotics nor any of our affiliates or subsidiaries shall be held responsible for the consequences that arise from misus...

Page 3: ...ties to the UR robot Manipulator Robot consisting of several joints and motors capable of performing programmed movements Pallet Pattern Generator An online tool used to develop stacking patterns for...

Page 4: ...alletizer URCap 5 1 4 Nordbo Palletizing installation interface 5 2 Robot Program 12 3 Installing a Palletizing Setup 14 3 1 Activating License 14 3 2 Transferring pattern files to URCap 15 3 3 Teachi...

Page 5: ...formation about the installation of the UR robot can be found in the manuals provided by your supplier when purchasing the robot 1 2 Pallet Pattern Generator Pallet patterns can be created using Nordb...

Page 6: ...ator enables the UR robot to pick objects from a conveyor and places these in a user specified pattern The URCap contains an installation and a program node The installation node is used to configure...

Page 7: ...r Manual Ver 1 0 Patterns tab The patterns tab is used to import stacking patterns from a USB drive rename patterns or delete patterns The details for the selected pattern file are displayed when sele...

Page 8: ...e pallet placement and the UR robot mounting These are often specified by the integrator during the setup and commissioning This tab is only used if the physical robot setup has changed For more infor...

Page 9: ...up tab is used when changing or adding new pick up positions Several pick up positions can be added to accommodate the use of more than one conveyor as well as different product sizes The process of s...

Page 10: ...g the simple gripper the URCap controls and monitors the gripper automatically When selecting custom gripper the user must manually insert functionality into the program tree to control the gripper Th...

Page 11: ...The lift tab is used to configure the control for each of these elevations The lift tab contains a frontpage and a datapage The frontpage gives an overview of the configured lift and enables the user...

Page 12: ...The license tab Shows the list of all Nordbo licenses available To get a guide explaining how to activate the license scan the QR code in the upper right corner or by visiting the website activate nor...

Page 13: ...ng steps 1 Deactivates the gripper this is to ensure that the gripper is in the deactivated state when starting the program 2 Wait for an empty pallet checks if the user wants to continue from the las...

Page 14: ...hecks if the lift should be raised to the next layer Each layer is completed by repeating the actions shown on figure 10 Figure 10 Program execution loop illustrated Reset Section The reset phase rese...

Page 15: ...alletizer it must be licensed This is achieved by selecting the General tab and then the License subtab where the purchased license key is used to activate the software To get a guide explaining how t...

Page 16: ...RCap Step 1 Generate files using the Online Pallet Pattern Generator and download these to a PC Step 2 Transfer the pattern to a USB flash drive Step 3 Insert the USB flash drive into a USB port in th...

Page 17: ...wser Figure 13 Patterns tab for importing files Step 5 Navigate to the USB drive select the pattern and click Open Note If you are trying to import a pattern with a name that already exists in the URC...

Page 18: ...guration or adding a new conveyor input a new pick up position is needed Follow these steps to teach a new pick up position Step 6 Navigate to the Pick up tab in the Nordbo Palletizing installation no...

Page 19: ...he TCP is positioned in the products center while the product is positioned in the pick up location typically on the conveyor When done positioning click Ok Figure 15 Conveyor pick up position Step 10...

Page 20: ...or low Step 12 Save the changes by saving the installation file 3 4 Configuring the program The program needs to be configured to start palletizing The configuration is made in the first node of the...

Page 21: ...area and choose the pattern from the drop down menus Pattern Figure 18 Universal Robots CB teach pendant USB slot Note If the user has selected the custom gripper The deactivate gripper and activate...

Page 22: ...must insert an additional program If the first program is set to Pallet 1 then the second program must be set to Pallet 2 This second program must be configured like previously explained in section 3...

Page 23: ...on continue the program will be executed and stop when the robot cannot reach the position causing the error This can be used to identify when the issue occurs Lift in unknown position This message is...

Page 24: ...ted The air is not on The gripper in and outputs are configured wrongly The widers to the gripper is broken Product is placed on the pallet in wrong orientation When the product is placed on the palle...

Page 25: ...Nordbo Robotics A S info nordbo robotics com Agerhatten 27A Entrance 4 45 81 81 98 81 5220 Odense Denmark Copyright 2020 Nordbo Robotics A S All Rights Reserved...

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