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      Integrating the Robotiq Palletizer with External Systems

      How to link barcode readers, PLCs, and HMIs to the Robotiq Palletizer, and what’s supported by Robotiq

      Context
      In some production environments, the Robotiq Palletizer needs to interact with external systems. These integrations help improve automation and reduce manual intervention. Typical use cases include barcode validation and rejection, recipe selection from a warehouse or production system, or centralized control via a single HMI. This article explains how such integration can be done, and clarifies what Robotiq supports directly.

       

      Integration Overview

      • Possible? Yes. Our software allows you to add custom logic in the UR program.

      • Supported by Robotiq? Only functionalities available via our Copilot interface and documented APIs. Robotiq does not provide support for external integration setups unless part of an Installation Services project.

      Custom integrations must be managed by the integrator or customer, with Robotiq support limited to Copilot functions.

       

      Example1: Barcode Reader for Rejecting Boxes

      Reject the case if the barcode is unreadable or if the content is flagged for rejection (commonly used in pharma).

      What is required:

      • Communication setup with the barcode reader

      • Custom logic in the "Grip" folder:

        • Custom moves to release the box onto a reject conveyor

        • Add the Copilot function rq_ignore_current_box() to skip the palletizing trajectory while keeping the box count unchanged

       

      Example2: Recipe from a PLC/WMS

      An external system controls which recipe to use, including product status and configurations, without operator input.

      What is required:

      • Uncheck the “Validate pallet state at program startup” to skip manual validation

      • Communication setup with external system

      • Use the function rq_set_palletizer_state() to select pallet configuration and start a new pallet

      • Optionally, use rq_set_box_payload() to adapt payload by SKU weight if dimensions remain the same

       

      Example3: One HMI for Full Line Control

      The entire production line, including the palletizer, is controlled via a single Human-Machine Interface.

      What is required:

      • Uncheck “Validate pallet state at program startup” to remove the need for the operator to confirm pallet status

      • Communication with external system

      • Use rq_set_palletizer_state() before starting a new pallet to select the recipe and status

      • Optionally, use rq_set_light_state() to match the tower light signal to the other equipment on the line (e.g. upstream fault)

       

      Useful Resources from UR

      To enable communication between the UR controller and external devices, refer to these protocol resources:

       

      Useful Copilot Functions (for reference)

      These functions are public and supported by Robotiq:

      Details (and other functions) are available in the PalAdvanceProgrammingFunctions.pdf file contained in the URCap Zip file