Measure and enter the height of the empty pallet that was used during calibration, if you
want to palletize on pallets with different heights. The floor level will be recalculated
according to the values entered here.
Figure 53
: Height of the pallet used during calibration.
6.2.3 - Movement
The speed and acceleration parameters of the palletizing process can be configured on this
screen.
Maximum speed and maximum acceleration
These parameters are used to limit the robot movement in general.
Approach speed and approach acceleration
These parameters are used to limit the robot movement when approaching the pallet
position. This is especially important when the boxes on the pallet are very close to each
other or the box dimensions have large variations, and quick movements would increase the
occurrence of unexpected safety stops.
Smart acceleration
Use this setting to control how much the robot can limit the Maximum Acceleration value
when moving large and heavy boxes. Too high acceleration may result in frequent safety
stops, inaccurate positioning, or dropped boxes. The following options are available:
-
Fastest: the robot uses Maximum Acceleration whenever possible
-
Fast: acceleration is limited for very large and heavy boxes on a very small gripper
Version 2.9.1
© Rocketfarm AS 2021. All rights reserved.
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