Robotiq

Multi Pick with PAL Ready

In this tutorial, David, a technical trainer at Rub Boutique, walks users through the quickest way to configure a multi‑pick application using a robotic smart infeed conveyor paired with a Power Pick multi‑gripper, both of which are PAL‑ready or optional on a PE20. The workflow hinges on having the latest UR Cap installed (Copilot 3.38+), correctly setting the TCP and payload for the multi‑gripper, and configuring the smart infeed via the UR Cap wizard, which records a single pick‑position waypoint that serves all future recipes. The video details each step: selecting the PowerPick Multi gripper model, choosing the appropriate suction cup type, entering box dimensions and payload, and setting “max boxes per grip” to define group sizes. The smart infeed’s sensor array automatically detects whether a single or multi‑pick is feasible based on box size—up to 400 mm (15½ in) for two‑box groups and 240 mm (9½ in) for three or more. The system dynamically adjusts the pick position for optimal trajectory, contact, and overhang management, while the pneumatic gate limits the number of boxes on the conveyor to the programmed maximum. David highlights practical examples: pressing “move here” shows the robot centering over a two‑box group, and the pallet viewer now displays grouped boxes in the pattern menu. He notes that the auto‑offset feature can be disabled for custom grip configurations, and provides script variables—GetNumberOfBoxGroupsDone, GetNumberOfBoxesInGroup, GetBoxGroupPayload—to retrieve real‑time metrics for advanced programming. Overall, the new workflow cuts setup time to a few minutes, streamlines programming, and improves pick efficiency and trajectory planning. By leveraging the integrated sensor suite and software‑driven box‑group management, manufacturers can increase throughput, reduce cycle times, and more easily adapt to varying box sizes without extensive re‑teaching.