ROBOTIQ AX20 Manual page 105

9. Expand the adjacent dropdown menu.
10. Select High.
The result in the program tree and Command window should resemble this:
11. Select the parent If node and tap the Add Else button at the bottom of the screen.
12. In the program tree, tap the <empty> node in the Else node.
13. Go to Program>Basic and insert two Set nodes.
14. In the first Set node, tick the Set Digital Output radio button.
15. Expand the dropdown menu.
16. Select a digital output to which one of the grippers is assigned.
17. Expand the adjacent dropdown menu.
18. Select High.
19. Repeat steps 15 to 18 with the other Set node, but select the digital output to which the other gripper is assigned.
In doing so, both grippers will activate when the robot will be instructed to pick up grouped boxes.
The result in the program tree should resemble this:
20. In the program tree, select the <empty> node in the Release node.
21. Go to Program>Basic and insert two Set nodes.
22. In the first Set node, tick the Set Digital Output radio button
23. Expand the dropdown menu.
24. Select a digital output to which one of the grippers is assigned.
AX20/AX30 Palletizing Solution
Fig. 5-35: Set Node in the If node
Fig. 5-36: Set Nodes in the Else node