Rally URCap, Руководство пользователя

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6.2.1.1 Calibration Box 57
6.2.1.2 Primary Pickup 58
6.2.1.3 Secondary Pickup 62
6.2.2 - Pallet 63
6.2.3 - Movement 65
6.2.4 - Advanced 69
6.3 - Callbacks 76
6.4 - Examples: typical configuration scenarios 79
6.4.1 - Classic setup with one optimal pickup position 79
6.4.2 - One pickup position with products coming in from the side 79
6.4.3 - One pallet position and one pickup position on the opposite side 81
6.4.4 - Two parallel pickup positions 82
6.4.5 - Two opposite pickup positions 85
6.4.6 - Limited space, walls other object 86
7 - Using the palletizer program 87
7.1 - Creating the main program 87
7.2 - Starting the program 87
7.3 - Using the program 88
7.3.1 - Single Product Mode 88
7.3.2 - Dual Product Mode 90
7.3.3 Partial Pallet 95
7.3.3.1 Edit Total Boxes 96
7.3.3.2 Edit Start Conditions 97
7.4 - Recovery from error 98
7.5 - Shutting down the robot 98
8 - Creating Patterns 98
8.1 - The pallet pattern definition file 98
8.2 - Project overview 99
8.3 - Layer types 100
8.3.1 - Box position 101
8.3.2 - Box rotation 101
8.3.3 - Box order 101
8.3.4 - Enforced single/multi-grip 101
8.3.5 - Gripper rotation at pickup 102
8.3.6 - Left and right pallet layout 102
8.3.7 - Inverse approach 103
8.3.8 - Shim paper 103
8.4 - Layers 103
8.5 - Zones 103
Version 2.9.1 © Rocketfarm AS 2021. All rights reserved. 4