In its most basic form, the Palletizer node allowsthe user to insert “ before pallet” instructions, grip and release actions, “ between
layer” instructions, and “ after pallet” instructions.
The actual instructions that make the robot arm and end effector go to and fro are managed by the URCap based on the settings
of the single or multiple recipes chosen by the user. Please refer to the Command Windowsection for more information on the
settings of the Palletizer node.
5.4.2.PalletizerNode WithMulti-PickFeature
The multi-pick feature is designed to allow for the processing of box groups and different box types, for instance, a double box
type that corresponds to a single box doubled in size and payload.
The difference between the picking of a single box and the picking of multiple boxes lies in the detection of different box types
via the box sensors. Please refer to the Box Sensors (Multiple Box Types - Multi-Pick Feature) section to install and connect
multiple box sensors in order to properly use the multi-pick feature.
Grouped boxes should travel and end at the pick position, where the box sensors should be positioned (e.g., at the end of a
conveyor).
Whereas the single box type will be detected by the single box sensor only, the double box type must be detected by two
separate box sensors simultaneously.
The simultaneous signaling of each individual sensor will then combine into one signal that will be interpreted by the robot as an
instruction to pick the grouped boxes(i.e., the double box type).
Fig. 5-27: Palletizer Node With Multi-Pick Feature
Thread Node
The following is an example of how to integrate the multi-pick feature in the robot program using script functions.
NOTICE
Tip:This approach can be used to accommodate special situationssuch as the need to add a wait time
between the sensor signal and the ready-to-palletize signal to ensure that the boxesare at the exact
pick position.
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