This article describes how to manage interlayers. Those are managed as a normal box using the multipick feature.
To manage interlayers and see it in the interface, you need to :
-1/ Create the box "interlayer" using the multipick feature
-2/Configure your interlayer
-3/ Replace the automatic gripper model by a smaller collision model
You will also find in this article :
-4/ programming concept
-5/ template program
1/ Create the " box interlayer" using the multipick features
2/ how to configure Interlayer:
optional :
Contact detection can be used especially if you interlayer is mid soft. It will allow to bring interlayer above the target with an offset :
- If needed, here is a complete video describing multipick and for more info we recommand using our user manual available on our website.
3/ - Replace the automatic gripper model with the real model
Configure it. X, Y, Z are in the tool referential.
4/ Concept programming and actions :
In this example :
5/ Program model for Rigid interlayer: link