4. If required, select the Enable "Confirm new pallet(s)ready" button option. Thisfeature allowsthe user to use the Confirm
new pallet(s)readybutton found on the push button enclosure. This prevents the Palletizer from palletizing on a new pallet
detected by the pallet sensors. In order to start the palletization on that new pallet, the operator has to press the Confirm
new pallet(s)readybutton.
5. If required, select the Add 25 mm minimum distance between robot arm and base option. When selected, thisfeature
ensuresa 25 mm clearance between the moving parts and the fundamental componentsof the base of the Solution (both
control boxes, teach pendant holders and mounting zone for pneumatic accessories) during trajectory execution.
CAUTION
When adding movesother than those generated automatically by the Palletizer node, it is the
responsibility of the user to observe the 25 mm minimum distance at all times.
This option can influence box throughput and affect the furthest positions reachable by the robot end
effector. It should only be used in situationswhere it is strictly necessary.
CAUTION
Make sure to observe sufficient clearance between any overhead equipment or ceiling, and the
components of the Palletizing Solution.
If required, activate the Add virtual ceiling for Palletizer nodesoption.
Enter the height limitation.
This will prevent the componentsof the Palletizing Solution from extending beyond this limit when in
motion.
5.3.CommandWindow
5.3.1.PalletizerNode
1. Tap Program > URCaps> Palletizer to add a Palletizer node in the robot program.
2. In the Command window, tap the Start button. The interface will display the Box, Pallet, Pattern and Settings blocks.
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