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When a test fails, a warning message appears with possible explanations of the failure. The user can stop the test wizard and fix the error, or proceed to the next step.

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NOTE:When running the tests that use force-controlled motion, the robot will firmly push the calibration box vertically down until a specific force is detected. Make sure your calibration box is made of a material hard enough to tolerate the pressure. Very soft or fragile boxes can lead to inaccurate measurements, measurement failures, or even damage to the boxThe test wizard can make changes in the robot program. Don’t forget to press SAVE when prompted.

Description of the test cases in Pally 2.10.0

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  • Moving parallel to the conveyor: this test can help detecting calibration issues related to TCP settings.

  • Moving to the pick position with 180 degrees rotation: this test can help detecting calibration issues related to TCP settings.

  • Automatic optimization of the pick position: this test can measure the pick position accuracy and adjust the robot position slightly up or down. (see note below)

Testing a pallet position

  • Verification of the pallet size: this test can verify that the calibration box was used as required.

  • Verification of the pallet shape: this test can verify that the correct pallet corners were used during calibration.

  • Verification of the calibration points: this test can check that the robot position at each pallet corner is accurate enough.

  • Automatic optimization of the pallet corner positions: this test can measure the position accuracy and adjust the robot position slightly up or down. (see note below)

NOTE:The test wizard can make changes in the robot program. Don’t forget to press SAVE when promptedWhen running the tests that use force-controlled motion, the robot will firmly push the calibration box vertically down until a specific force is detected. Make sure your calibration box is made of a material hard enough to tolerate the pressure. Very soft or fragile boxes can lead to inaccurate measurements, measurement failures, or even damage to the box.