Rally URCap, Руководство пользователя

Страница: 101 / 117

{
[...]
Figure 91 : layer types
8.3.1 - Box position
Each box has a specific position (the "x" and "y" values) relative to the pallet corner. The
edges of the pallet define a Cartesian coordinate-system with the origo in the lower left
corner. By default, positions are defined in millimeters.
Note: The layer type is a 2-dimensional logical model of the layout, thus only the x and y
coordinates are defined. The z-coordinate will be calculated from the product height and the
actual layer being palletized. The [x, y, z] values point to the center point at the top of the box
on the pallet.
8.3.2 - Box rotation
Each product has at least one allowed rotation (the "r" values) on the pallet, which can be 0,
90, 180, or 270 degrees, or the combinations of [0, 180] and [90, 270] respectively.
8.3.3 - Box order
Boxes are palletized in the same order as they are defined in the pattern file. All positions of
one layer are completed before the robot continues on the next layer. The only exception is
the use of zones, see
Zones .
8.3.4 - Enforced single/multi-grip
By default, the robot will try to palletize two or more adjacent boxes in one turn, in order to
maximize throughput. The number of boxes that the robot can pick at once is limited by the
maxGrip parameter in the pattern file as well as the installed product sensors on the
production line and the size of the gripper.
In order to force the robot to pick
less than the maximum possible number of boxes, the
separator flag (the "f" value) can be used. The separator flag will instruct the robot to stop
looking for more boxes. An “f”-value set to 1 means that the robot will check to see if it can
pick the current box with the next box in the pattern. If the “f”-value is set to 0, then the robot
will
not try to pick the current box with the next box.
The following outtake of a pattern file shows how it is possible to force the robot to complete
a double-pick followed by a single-pick for the three first boxes in a pattern where the robot
can pick three boxes at once.
Version 2.9.1 © Rocketfarm AS 2021. All rights reserved. 101