Rally URCap, Руководство пользователя

Страница: 2 / 117

Table of Contents
1 - Document Revision Information 6
2 - License 7
3 - Requirements 8
3.1 - Software Requirements 8
3.2 - Hardware Requirements 8
3.2.1 - Supported external hardware 8
3.3 - Compatibility notes 8
3.3.1 - Compatibility notes for version 2.6 and above 9
3.3.1.1 - Path planning 9
3.3.1.2 - ProductCount 9
3.3.2 - Compatibility notes for version 2.7.1 and above 9
3.3.2.1 - Pallet confirmation variables 9
3.3.3 - Compatibility notes for version 2.8 and above 9
3.3.3.1 - Execution of beforeZone and afterZone callbacks 9
3.3.3.2 - Execution of beforeGrab callback 9
3.3.3.3 - Waiting time at pickup and release positions 10
3.3.4 - Compatibility notes for version 2.9 and above 10
3.3.4.1 - URCap API 1.12 10
3.3.4.2 - Definition of multi-zone grippers (gripper.json) 10
3.3.4.3 - Multi-pick fewer boxes 10
3.3.4.4 - Optional posData in zones.json 10
3.3.4.5 - New callback onNextTask 10
3.4 - Compatibility with CB 3.0 robots 11
3.4.1 - Memory usage limitations on CB 3.0 11
3.4.2 - Computational limitations on CB 3.0 11
4 - Functional description 12
4.1 - The palletizer workflow 12
4.2 - Pallet patterns 12
4.3 - Pallet completion state 13
4.4 - Pickup position 13
4.4.1 - Single pick and multi-pick 14
4.4.2 - Gripper alignment at the pickup position - offset grip 14
4.4.3 - Gripper rotation at the pickup position - gripper optimization 15
4.4.4 - Grip quality value - smart acceleration 15
4.5 - Path planning 16
4.5.1 - The path planning algorithm 16
Version 2.9.1 © Rocketfarm AS 2021. All rights reserved. 2