ROBOTIQ AX20 Manual page 52

1. Connect each box sensor as described in the Box Sensor (Single Box Type) section.
2. Take note of the digital input terminal to which each box sensor is connected.
The figure below shows an example in which the digital input terminal for box sensor #1 is Dl2, and the digital
input terminal for box sensor #2 is Dl3.
3. Lay a wire between an unused digital input terminal and an unused digital output terminal (this is depicted by the green wire
in the figure below).
In the figure below, digital output DO4 will activate digital input DI4.
Connection Between Digital Input and Digital Output
This wiring procedure is the hardware step of the multi-pick feature, and will not make the feature functional on
its own unless it is properly programmed in the robot software. Please refer to the Palletizer Node With Multi-
Pick Feature section to go through the software steps and enable the multi-pick feature.
The end result of this wiring procedure is for the robot to receive a combined signal indicating that both box
sensors have been activated simultaneously, and that it can pick up the group of boxes altogether.
And so, when both box sensors detect a box, the digital output (DO4 in the above figure) will send that
combined signal to the robot.
For that reason, the digital output must be connected to digital input (DI4 in the above figure) for it to be usable
in the robot program.
Fig. 3-2: Wiring Box Sensors for Multiple Box Types
NOTICE
NOTICE
CAUTION
AX20/AX30 Palletizing Solution
52