Rally URCap, Руководство пользователя

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8.3.7 - Inverse approach
For each layer type it is possible to define how the robot should approach the target position
(the "approach" value corresponds to the right, and the "altApproach" to the left pallet
layout). The approach direction should depend on the box order - palletizing from the
furthest side of the pallet and in ("normal") or starting at the nearest side and continuing
further out ("inverse"). In special circumstances - especially when the mounting base is wide
- the inverse box order and approach produces a better result with less or no collision
situations.
8.3.8 - Shim paper
Shim papers are considered as special layers without actual products. The shim paper layer
has its own height, usually 2-3 mm. The number of shim paper layers is not limited.
The shim paper layer type is marked with the "class": "separator" field and must not contain
the "pattern" and "altPattern" structures.
8.4 - Layers
The "layers" structure defines the actual layout of the final pallet. Each layer is built
according to one of the layer types as described above.
{
[...]
"layers": [
"normal",
"rotated",
"shimPaper",
"normal",
"rotated"
]
Figure 93 : layers
Note: The first element in the layer list is the first layer on the empty pallet. The last element
in the list is the topmost layer.
8.5 - Zones
Normally the robot completes a layer before starting the next layer. However, the pallet can
be split into different regions (the "zones" and the optional "altZones" structure) which
override the regular layer completion rules. In general, a zone cannot be started until the
previous zone is finished.
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