Command Window; Palletizer Node - ROBOTIQ AX20 Manual

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5.3. Command Window

5.3.1. Palletizer Node

To ensure the safe operation of the Solution, the linear axis and robot motions should be generated using the
palletizer node. If robot moveJ or moveL commands are required, the following limits should be respected.
For a moveJ node: limit joint accelerations under 165 deg/s2
l
For a moveL node: limit tool linear acceleration under 2500 mm/s2
l
1. Tap Program>URCaps>Palletizer to add a Palletizer node in the robot program.
2. In the Command window, tap the Start button. The interface will display the Box, Pallet, Pattern and Settings blocks.
3. Tap the Edit button in the Settings block.
Settings Block
Settings Menu
AX20/AX30 Palletizing Solution
Fig. 5-4: Home View of a New Palletizer Node
Fig. 5-5: Settings Menu of a Palletizer Node
CAUTION