Lean ROBOTIQ AX Series, Инструкция по эксплуатации

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5.2.4. Number of Processed Boxes
Description
This function must be used inside the palletizer node in order to work properly (see example) and returns the number of processed
boxes.
Declaration
rq_get_nb_processed_boxes( )
Return value
This function returns an integer which expresses the number of processed boxes.
Example of use
5.2.5. Set Pallet Completed
Description
Use this function inside a Grip or Release folder. The palletizer will process the current box and go directly to the Add after pallet
folder. The Add between layer folder will not be executed.
Declaration
rq_set_pallet_completed( )
Return value
There is no return value associated with this function.
5.3. Vacuum Gripper Behavior
Workpiece gripping /releasing is performed by changing the values of the gripper input registers. While the control is very simple,
some behaviors deserve a better explanation. The Vacuum Gripper can work in two different mode: the Automatic and Advanced
modes. For more details, please refer to the AirPick Vacuum Gripper instructions manual.
5.4. AirPick Vacuum Control over Universal Robots with URCaps
Info
Please refer to the AirPick Vacuum Gripper instructions manual to have all the information about the URCap.
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