ROBOTIQ AX10 - Page 92

AX10 Palletizing Solution
5. Box position
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Set Grip Position / Set Drop Position
Tap the Set Grip Position button (palletizing mode) or Set Drop Position button (depalletizing mode) to open the
URMove menu
Move the TCP to the position at which the gripper will pick up or drop the boxes (e.g., from/on a conveyor).
The TCP should be positioned at the center of the top of the box that needs to be picked or dropped.
CAUTION
Position the robot wrist connector so that it is aligned with side A.
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Once the grip/drop position is defined, the Box menu will display the option to move to that position with the robot. Or
to move the Linear Axis to allow the robot to reach the grip/drop position.
6. Advanced settings - Multi-Pick Feature
NOTICE
Multi-Pick Feature
The advanced settings are also available in the Settings menu, only if the multi-pick feature has already
been enabled in the Settings menu.
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Single recipe > Settings Block > Edit
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Multi-recipe > Select Recipe > Edit > Settings Block > Edit
a. Box presence input dropdown menu
Select the digital input to which the box presence sensor has been connected beforehand.
b. Box center offset from TCP (multi-pick feature only)
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