2-ways
A and C
4-ways
A, B, C, D
Above pickup
Gripper distance from the top of the box, from where the robot will move down vertically until
the gripper foam reaches the box surface. At this point the program automatically activates
compressed air (if available) to clean the gripper foam and the box surface before picking.
Figure 60 :
Illustrates the
Above pickup
parameter.
Smart exit search range
Defines a rectangular area where the path planning algorithm can search for an intermediate
waypoint between box-free and approach position, to perform linear movements without
collision to the robot base, see the green areas on
figure 61
.
When entering the smart exit search values, consider the following coordinate system:
X=0, Y=0 is identical to, or straight above the
box-free
position. Positive Y will move the box
along the conveyor direction, regardless of the current conveyor and gripper orientation.
Positive X will move perpendicular to the conveyor towards the
actual
pallet.
Note:
The path planning algorithm will exclude smart-exit waypoints that collide with the
robot shoulder, and - when moving below the conveyor level - it will also exclude waypoints
that collide with the conveyor. When multiple waypoints within the given search area are
possible, the waypoint with the shortest total path length will be chosen.
Version 2.9.1
© Rocketfarm AS 2021. All rights reserved.
71
