ROBOTIQ AX20 Manual page 89

89
Fig. 5-15: Examples of Box Center Offset from TCP
c. Allow gripper to pick the box at different angles
In order to optimize the trajectory and travel of the robot arm during the palletizing or depalletizing process, the user can
allow or prevent the gripper to pick up the boxes from different angles.
Tick or untick either box to allow or prevent the gripper from picking the boxes as if the robot wrist had performed a 90-
or 180-degree rotation on the Z-axis.
When the multi-pick feature is disabled in the Settings menu, the System defaults to allowing the gripper to pick the
boxes as if the robot wrist had performed a 90- or 180-degree rotation on the Z-axis.
When the multi-pick feature is enabled in the Settings menu, the system defaults to allowing the gripper to pick the
boxes as if the robot wrist had performed a 180-degree rotation on the Z-axis.
Fig. 5-16: Depiction of Gripper Rotations Based on the Option to Pick Up Boxes From Different Angles
AX20/AX30 Palletizing Solution