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Palletizer for Universal Robots - User Manual

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Ver. 1.0

Gripper tab

The gripper tab is used to configure the control of the gripper. This is often done by the integrator
during the setup and commissioning. There are two types of grippers: simple or custom. When
selecting 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. This is useful for controlling more advanced gripper types.

Note:

The gripper tab is solely used to configure the control of the gripper. The size, weight, and

mounting of the gripper must be configured using the native “TCP Configuration” installation node.

Figure 6: Gripper tab

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Содержание Palletizer

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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