4.4.1 - Single pick and multi-pick
Depending on the actual pallet pattern and gripper dimensions, it is possible to pick one or
more boxes at the pickup position. To pick multiple boxes, the positions in the pattern file
must follow each other by product length. The pick and place positions are automatically
calculated for the given number of boxes.
The program will automatically retry with fewer boxes when the specified number of boxes
cannot be palletized:
-
when the gripper is too small to pick all boxes
-
the pick position is out of reach
-
the target position is out of reach
-
collision-free path planning is not possible
Figure 2
: Pickup position with two products. Notice that the tool coordinate system is
aligned to the conveyor direction.
4.4.2 - Gripper alignment at the pickup position - offset grip
To avoid accidental multi-picking, the front edge of the gripper is always aligned with the rear
edge of the (last) product being picked. This is especially important when boxes are smaller
than the gripper. In this case the gripper is not aligned centered above the box, which is a
common misunderstanding when using Pally at the first time.
Version 2.9.1
© Rocketfarm AS 2021. All rights reserved.
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Содержание URCap
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