Versions Compared

Old Version 4

changes.mady.by.user Lars Martin Gjeraker

Saved on

compared with

New Version 5

changes.mady.by.user Csaba Mucsi

Saved on

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.

...

Info

Note:

  • If using a lifting column calibrate the pickup position when fully retracted (0mm)

  • Make sure that the gripper is perfectly in the center of the box.

  • Make sure the tool connector is facing upward the conveyor when saving the position. See gripper mounting.

  • If you use a lifting column in the project, make sure you reach the pickup position when the column is at full stroke.

...

  1. Move the robot to the pickup position.

  2. Now go to the Move tab, and select "Tool" in the drop-down called "Feature".

  3. Now press the Y- arrow button and the gripper should move parallel to the conveyor and in the direction where boxes arrive from, i.e towards box 2.

  4. Press the Y+ button, and the gripper should move back to the end of the conveyor.

  5. When the gripper is above the box on the pickup position, press the RZ+ and RZ-buttons: the gripper should rotate around its own center point and not around the robot tool flange. Rotating by 180 degrees, the gripper should remain perfectly above the center of the box at the pickup position.

 

Tool connector

...

Make sure the tool connector points in the direction of the other boxes when calibrating.