ROBOTIQ PALLETIZING SOLUTION AX Series, Instruction Manual

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Warning
When the robot is not moving, the collaborative collision detection is disabled. If the linear axis moves, it can hurt people
with the robot.
Warning
Depending on the supply sources, when an emergency stop (e-Stop) button is pressed, the following consequences may
occur. The robot owner has the responsibility to do a risk assessment and choose the appropriate option.
Supply sources e-Stop consequences
Robot tool supply
(tool connector)
Power failure to the Vacuum Gripper. The vacuum level will drop to ambient pressure
and the object will be lost.
Caution
For the Palletizing Solution, it is not recommended to connect the Gripper to
the tool connector.
Robot controller supply*
(Any 24V pin)
Vacuum Gripper powered ON.
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If an object is detected: the vacuum level will continue to be regulated and the object
will not be lost.
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If no object is detected: the Vacuum Gripper will go into a standby state 2 seconds
after the e-Stop button is pressed.
*
The AirPick Vacuum Gripper that comes with the Robotiq Palletizing Solution is connected via the robot controller.
Warning
Loss of vacuum can occur due to power failure or air supply interruption.
2.3.1. Expected System Behavior in Normal Operating Conditions:
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Normal mode: The palletizer continuously fills pallets when no human operator is within the vicinity of the palletizing cell.
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Safeguarded mode: The system stops when a human operator enters the vicinity of the palletizing cell to manipulate a filled pal-
let, place pallets in an empty pallet slot, or troubleshoot the system or any other operations requiring human intervention. In such a
state the robot will maintain a Category 2 stop and the linear axis will undergo a Category 1 stop transitioning to a Category 0*
stop. When the safeguards are removed, the system will resume operation in normal mode.
Info
See IEC 60204-1 for definitions of stop categories.
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