How to Program Rigid Interlayers Using the Multipick Feature 

To manage interlayers and see it in the interface, you need to : 

       1. Create the “interlayer” box using multipick feature

       2. Configure the interlayer

       3. Replace the automatic gripper model with a custom collision model

You will also find in this article :

       4. Programming concept

       5. Template program link

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 a Custom One

Configure it. X, Y, Z are in the tool referential.

4.Understand the Programming Concept

In this example :

5. Program template for Rigid interlayers 

here the  link