ROBOTIQ PE20 - Page 88

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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 TCPto the position at which the gripper will pick up or drop the boxes(e.g., from/on a conveyor).
The TCPshould be positioned at the center of the top of the box that needsto 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 isdefined, the Box menu will display the option to move to that position with the robot.
6. Advanced settings- Multi-PickFeature
NOTICE
Multi-PickFeature
The advanced settingsare also available in the Settingsmenu, only if the multi-pick feature hasalready
been enabled in the Settingsmenu.
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Single recipe > Settings Block > Edit
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Multi-recipe > Select Recipe > Edit > Settings Block > Edit
a. Boxpresence input dropdown menu
Select the digital input to which the box presence sensor has been connected beforehand.
b. Boxcenter offset from TCP(multi-pickfeature only)
NOTICE
Best Practice - Multi-PickFeature
Should the user want the gripper to offset the box center based on whther it picks a single box or a
multiple of the single box:
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Measure the X and Ydistancesfrom the TCPto the target center on top of the box(es).
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Example 1: The TCPhas been set at the center on top of two boxescombined; the robot can be
instructed to offset the box center so that it corresponds to the target center on top of a single box.
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Example 2: The TCPhas been set at the center on top of a single box; the robot can be instructed to
offset the box center so that it correspondsto the target center on top of two boxescombined.
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Enter the X and Yvalues in the corresponding fields.
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