ROBOTIQ PE20 - Page 81

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Boxespicked together must have the same payload.
Refer to the BoxSensors(Multiple BoxTypes- 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 isactivated, 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'sstate 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'sstate at the start of the robot program.
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If the Palletizer isset in palletizing mode, the pallet will be considered empty.
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If the Palletizer isset 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 isabsent 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 boxesprocessed) 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 boxesprocessed) 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 planesaround pallet(s)
Disabled by default.
When enabled, this option unlocks the Distance field to enter a numerical value. Thisvalue will add to the measurement of each
pallet side to create a virtual plane around it. Thisprevents the robot holding boxes, and the actual boxes, from reaching beyond
the limits of the virtual plane.
NOTICE
Robotiq recommendskeeping a minimum distance of 50 mm (2 in) around all pallet sides.
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