Rally URCap, Руководство пользователя

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8.5.1 - Conditions
Zones are defined by using relational operators "<", "<=", ">", ">=" on the x, y, and z axis in
the Cartesian coordinate-system defined by the pallet edges with the origo in the lower left
corner of the pallet. If multiple conditions are used, they have to be enclosed in an array:
"x" : [
{"condition" : ">", "value": 500} ,
{"condition" : "<=", "value" : 800} ]
Figure 95 : multiple conditions in a zone definition
Note: Zones are evaluated in the order they are defined. If two or more zones are
overlapping, the program will choose the first one that matches the condition criteria. This
might cause some zones to never be activated.
8.5.2 - Position transformation
Each zone can define a position transformation hint, which may be used by the Pally URCap
to control a lifting column and/or a base slider. Before the robot starts palletizing the
specified zone, the external hardware is controlled by the Pally program to put the robot into
the desired mounting position.
The "posData" value has the following format: [x, y, z] in the robot base coordinate system
(in millimeters). The default position is [0, 0, 0].
8.5.3 - Location of the zone definitions
For compatibility reasons it is possible to define the zones in 3 different locations, which are
loaded in the following order:
1. the "zones" and "altZones" structures included in the pattern file (recommended),
2. a separate file called
pattern .zones.json - for a pattern file called pattern .json
3. a default file called zones.json
4. automatically generated by the Pally URCap for each product (only when a
supported lifting column is installed and configured properly)
8.6 - Uploading new patterns
Place the JSON-files containing the patterns on the root folder of a USB-stick and plug this
USB-stick into the robot. Depending on the settings for the pattern upload that is enabled in
the ‘Advanced’ → ‘Patterns’ sub-tab (see section
6.1.6 Advanced ), the JSON-files are either
automatically uploaded to the desired storage directory on the robot or the ‘Upload Patterns’
button in the ‘Patterns’ sub-tab must be pressed to copy the JSON-files onto the robot.
Version 2.9.1 © Rocketfarm AS 2021. All rights reserved. 105