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The path planning could help avoid collision and give better reach for the robot.

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Optimize gripper at pickup

pally Pally will allow you to grip the box or boxes at pickup in four different ways. Select the allowing orientations with the slider. Better reach could be accomplice when selecting 4-way grip

The selections are:

Find more information about Optimize gripper at pickup: Optimize gripper at pickup - Gripper Orientation

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If you use the blow function in pally it will be turned on between Above pickup and pickup position. This is to remove any dirt that may be on the surface of the box

Smart exit search range

Read more about the Smart Exit setting Smart Exit

High approach boost

High approach boost

Load defaults for conveyor placement

Pally will provide different optimization values when selecting a conveyor orientation.

Values that will be changed when selecting conveyor placement:

  • Smart Exit

  • Hight approach boost

Note

Changing conveyor placement will change values for Smart Exit. If you have adjusted Smart Exit manually, DO NOT select new conveyor placement if not intentionally. Values will be overwritten