Hardware Requirements

Computer

The application is deployed as a snap package, requiring an Ubuntu machine to run. A recommended setup includes:

• Operating System: Ubuntu Core 22

• Hardware: Intel NUC

The application communicates with the robot via WebSockets and HTTP. The required connection from the Ubuntu machine to the robot or controller is a standard Ethernet cable. Ensure a stable and secure connection for reliable operation.

Robots

The application supports a wide range of robots that are compatible with the Jacobi motion library and Studio, listed here.

Controller Software

As a general rule of thumb, ensure your controller software version is the most up-to-date for the robot model. For example, ABB Robotware must be of version 6.07 or later, and come with Externally Guided Motion (EGM) installed.

Peripherals

The following sensors and safety devices are recommended for ensuring the safe and efficient operation of the palletizing system:

• Proximity Sensors: For detecting pallets in the operating environment, and boxes on a conveyor.

• Area Scanners and Light Curtains: For monitoring safety zones and ensuring safe operation.

• Vacuum Sensors: For detecting if a box is picked successfully.

PLCs

Peripherals can be connected to either a PLC or directly to the robot controller. All Allen-Bradley PLCs are supported. For other PLCs, contact us.

Safety

The palletizer application communicates with the robot using I/O signals and manages certain safety logic from a removed standpoint. The core safety logic is handled by the robot’s controller. For example, if an emergency stop is triggered, the controller is responsible for stopping the robot, and the application then processes the subsequent logic. Similarly, slowdown signals from area scanners are managed with the assumption that the controller handles the actual slowdown. This approach ensures that safety is governed by the robot’s intrinsic controller code, which meets universal safety standards.