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5 of 36 

Palletizer for AUBO Robots - Installation Manual 

–

 Ver. 1.7  

2.

 

Product Information 

The AUBO palletizer system is divided into three parts and elaborated in this section: AUBO Robot 
& grippers, Pallet Pattern Generator, and AUBO Software Extension 

 

2.1.

 

AUBO robot 

Information about the installation of the AUBO robot can be found in the manuals provided by your 
supplier  when  purchasing  the  robot.  Alternatively,  the  manuals  can  be  found  at 

www.nordbo-

robotics.com/downloads.

  

 

2.2.

 

Pallet Pattern Generator 

Pallet patterns can be created using Nordbo’s Online Pallet Pattern Generator, the online software 

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

pal.nordbo.io

 by signing up.  

 

Figure 1: Pallet Pattern Generator interface 

Содержание AUBO

Страница 1: ...er for AUBO Robots Installation Manual Ver 1 7 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 R...

Страница 2: ...aking 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...

Страница 3: ...capabilities to the AUBO robot Manipulator Robot consisting of several joints and motors capable of performing programmed movements Pallet Pattern Generator An online tool used to develop stacking pa...

Страница 4: ...pecifications 8 4 Installing the robot accessories 10 4 1 Wiring the tool 11 4 2 Wiring the photoelectric sensors 12 4 3 Optional Wiring the lift 15 5 Software and Firmware Update 16 5 1 Update Proces...

Страница 5: ...lear understanding of the risks related to working with robots It is therefore required that the person executing this guide s instructions have made a risk assessment of the application in which the...

Страница 6: ...O robot can be found in the manuals provided by your supplier when purchasing the robot Alternatively the manuals can be found at www nordbo robotics com downloads 2 2 Pallet Pattern Generator Pallet...

Страница 7: ...is used to read files generated by the online pattern generator Using these files the AUBO robot can pick objects from a conveyor and place these in a user specified pattern The use of the AUBO exten...

Страница 8: ...3 1 Robot orientation The rotation of joint 1 to joint 6 of the AUBO robot is from 175 to 175 This limited rotation must be taken into consideration when installing the robot If mounting the robot bas...

Страница 9: ...palletizer set up on site to perform CE branding risk assessment and to identify and correct safety issues EXAMPLE DIMENSIONS Pallet size AUBO i5 AUBO i10 Max pallet length G 600 mm 1200 mm Max palle...

Страница 10: ...9 of 36 Palletizer for AUBO Robots Installation Manual Ver 1 7 Figure 5 AUBO Palletizer dimensions top view Figure 6 AUBO Palletizer dimensions back view...

Страница 11: ...7 4 Installing the robot accessories Use the following instructions to connect grippers and sensors to the AUBO robot The inputs and outputs can be found in the lower right corner of the cabinet and a...

Страница 12: ...ch on a gripper OBS Locate the correct wiring of your vacuum switch in the manual supplied with the switch Inputs DI_00 Vacuum switch high signal vacuum gripper has an object vacuum is present Outputs...

Страница 13: ...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...

Страница 14: ...lletizer for AUBO Robots Installation Manual Ver 1 7 Case 1 Single Conveyor Figure 10 Sensor placement if using a single conveyor setup Case 2 Double Conveyor Figure 11 Sensor placement if double conv...

Страница 15: ..._02 Photoelectric pallet sensor 2 low signal Pallet2 placed correctly DI_03 Photoelectric sensor at pickup position for line 1 stacking on pallet 1 low signal product ready for pickup DI_04 Photoelect...

Страница 16: ...t must therefor use sensors for detecting when the lift is raised lowered The following I O must be wired to use a lift Outputs DO_04 Signal to move the lift upwards high signal move lift up DO_05 Sig...

Страница 17: ...ansfer the update files to a USB and insert the USB containing the files into the robot control box Figure 12 AUBO Settings Interface 1 Go to the Settings tab located in the top menu as illustrated in...

Страница 18: ...following section describes the installation process of the AUBO extension The software is located on the USB provided by Nordbo Robotics Note If you have received the files without a USB flash drive...

Страница 19: ...or AUBO Robots Installation Manual Ver 1 7 2 Activate the emergency stop on the teach pendant A pop up window will appear as illustrated in figure 14 Click OK to close the window Figure 14 AUBO Interf...

Страница 20: ...etizer for AUBO Robots Installation Manual Ver 1 7 3 After closing the window the desktop will be visible Click the Files icon on the desktop and navigate to the USB directory Figure 15 AUBO Teach pen...

Страница 21: ...Palletizer for AUBO Robots Installation Manual Ver 1 7 4 In the USB directory double click on the deb file wait for Ubuntu Software centre to load the install package Figure 16 AUBO post installation...

Страница 22: ...Install in the right side of the screen Figure 17 Ubuntu Software Center 6 A popup will appear warning that The package is of bad quality This is because AUBO does not follow the standard Linux direc...

Страница 23: ...Software Center will inform you when the installation is complete Figure 19 Installation complete 8 Reboot the AUBO robot The installation is now completed and the palletizer extension can be accessed...

Страница 24: ...23 of 36 Palletizer for AUBO Robots Installation Manual Ver 1 7 Figure 20 AUBO Palletizing Extension...

Страница 25: ...ngs The login tab enables Administrator mode giving access to edit the specifications within the setup tab see figure 21 Settings relating to the physical setup of the palletizing station deletion of...

Страница 26: ...Palletizer for AUBO Robots Installation Manual Ver 1 7 7 2 Setting up the tool The following instructions are used when performing the first time setup or changing the tool Figure 22 AUBO Extension S...

Страница 27: ...uld be able to pick up boxes with 0 rotation in your stacking pattern Figure 23 AUBO Extension Setup tab Weight Weight of the gripper in kg Height The height of the gripper measured from the robot fla...

Страница 28: ...es or stacking different products using the same robot 7 3 Setting up the pallet The following instructions are used when performing the first time setup There are 4 different calibration methods Meth...

Страница 29: ...orners as depicted on figure 25 by moving the center of the robot flange to each corner and clicking the teach button for that corner Alternatively the 3 dimensional vectors from the robot base to the...

Страница 30: ...orners as depicted on figure 26 by moving the center of the robot flange to each corner and clicking the teach button for that corner Alternatively the 3 dimensional vectors from the robot base to the...

Страница 31: ...the X axis and a point in the positive quadrant of the XY plane Teach the 3 points as depicted on figure 27 by moving the center of the robot flange to each corner and clicking the teach button for th...

Страница 32: ...e rotation compared to the default setup where the robot power cable is pointing towards pallet 1 in a 90 degree angle X offset The distance between the pallet s short side and the center of the robot...

Страница 33: ...ng section describes how to use the tool I O to control the gripper 1 Go to the login tab and log in to activate administrator mode 2 Go to the Extensions tab and choose Palletizing in the left menu 3...

Страница 34: ...see figure 31 2 Under Pin 1 2 Configuration menu set the following value a Power Choose voltage needed by your gripper 3 In the Pin 5 7 3 4 Configuration menu set the values according to defined Tool...

Страница 35: ...onal Setting up the lift In the General tab the lift can be enabled When enabled the Height offset must be adjusted according to the physical setup The height offset is the distance that the lift move...

Страница 36: ...t must be licensed This is done by going to the License tab of the palletizing extension see figure 32 where the purchased license key is used to activate the license For a step by step how to guide o...

Страница 37: ...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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