ROBOTIQ AX10 - Page 84

AX10 Palletizing Solution
Refer to the Box Sensor (Multiple Box Types - Multi-Pick Feature) section to perform the wiring procedure (hardware
step) of the multi-pick feature, and to the Palletizer Node With Multi-Pick Feature section for information on how to
program using the multi-pick feature (software steps).
5. Validate pallet state at program startup
Enabled by default.
When this option is activated, the system will bring up a pop-up window (i.e., the Pallet viewer) for each Palletizer node,
and will prompt the user to confirm each pallet's state at the start of the program, either empty, full, absent or ignored.
Untick to deactivate if required. When this option is not selected, the system will not bring up a pop-up window to
confirm each pallet's state at the start of the robot program.
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If the Palletizer is set in palletizing mode, the pallet will be considered empty.
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If the Palletizer is set in depalletizing mode, the pallet will be considered full.
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If the pallet sensors do not detect the presence of a pallet, the pallet will be considered absent.
CAUTION
If, for whatever reason, the Pallet viewer indicates that a pallet is absent although it is materially
present, it is the responsibility of the user to confirm the actual state of the pallet, either full, empty or
ignored.
CAUTION
When the user is not given the option to validate the pallet state at the start of the program:
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If the program stops, the current state (i.e., number of boxes processed) of each pallet will be kept in
memory.
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Saving the robot program also saves the current state (i.e., number of boxes processed) of each pallet.
Loading the program will also load the saved pallet state.
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The Palletizer node will thus resume with the saved pallet state.
6. Add virtual planes around pallet(s)
Disabled by default.
When enabled, this option unlocks the Distance field to enter a numerical value. This value will add to the measurement
of each pallet side to create a virtual plane around it. This prevents the robot holding boxes, and the actual boxes, from
reaching beyond the limits of the virtual plane.
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