ROBOTIQ AX10 - Page 114

AX10 Palletizing Solution
5.5.2. Disable Linear Axis
Description
The linear axis decelerates to a complete stop but remains powered (the brake is not applied). The communication between the
robot controller and the linear axis controller remains active.
Declaration
rq_linear_axis_disable( )
Returned value
The rq_linear_axis_disable( ) or rq_linear_axis_disable(True) function returns True when it succeeds. If the function fails, it returns
an error message and the program stops. When the function returns True, the event is recorded in the UR Log tab.
The rq_linear_axis_disable(False) function returns True when it succeeds, and returns False when it fails (the program is not
stopped). The event, whether successful or failed, is recorded in the UR Log tab.
5.5.3. Start Linear Axis
Description
This function is the equivalent of the Start button. The linear axis brake is released.
Use this function before a palletizer or a linear axis move node. The linear axis must be scanned before the use of this function.
Declaration
rq_linear_axis_start( )
Returned value
The rq_linear_axis_start( ) or rq_linear_axis_start(True) function returns True when it succeeds. If the function fails, it returns an
error popup and the program stops. When the function returns True, the event is recorded in the UR Log tab.
The rq_linear_axis_start(False) function returns True when it succeeds and returns False when it fails (the program is not stopped).
The event, whether it is successful or failed, is recorded in the UR Log tab.
5.5.4. Number of Processed Boxes
Description
This function returns the number of processed boxes. It must be used inside the palletizer node in order to work properly.
Declaration
rq_get_nb_processed_boxes( )
Returned value
This function returns an integer which expresses the number of processed boxes.