The rePally URCap is a repalletizer edition of the Pally URCap. For a more detailed description, see the Pally URCap User Manual.This document describes only the differences between Pally and rePally.
License
The rePally URCap requires its own license. The file name has the following format: no.rocketfarm.urcap.repalletizer.RobotSerialNo.license
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When installing Pally and rePally on the same robot, make sure the Daemon Port Number settings for the pallet manager daemon are different. The daemon processes will fail to start if the port numbers are identical.
It is technically possible to install different versions of Pally and rePally on the same robot, however, some unknown compatibility issues may occur.
Calibration
The calibration process is similar to Pally. However, there are some differences to be considered.Note: The program automatically determines the pallet position to be depalletized and palletized by measuring the distances from each pallet to the pick and drop position. Place your conveyor with respect to the palletizing and depalletizing position.
Sensor placement and logic
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When calibrating the pick position, : make sure that the gripper foam is slightly pressed against the box surface.
When calibrating the drop position, : make sure that the boxes will not collide with the conveyor. Leave a small gap between the gripper foam and the box surface during calibration.
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The rePally URCap can depalletize from one pallet position to a specific drop position, and palletize from a specific pick position to the other pallet position. No other operation modes are currently supported.
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Note: The program automatically determines the pallet position to be depalletized and palletized by measuring the distances from each pallet to the pick and drop position. Place your conveyor with respect to the palletizing and depalletizing position. |
The left and right pattern and pallet size can be different:
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Depalletizing and palletizing actions are not directly synchronized with each other inside the main program, and the sequence is always controlled by the installed sensor logic:
If the drop position is not occupied: depalletize to the drop position,
If the pick position is occupied: palletize from the pick position,
If both of the above are true at the same time, palletizing and depalletizing actions will be performed alternatingly.
This makes it possible to add any kind of extra machinery between the pick and drop positions:
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The operator has to confirm when a new pallet is available on the left or right position. The program starts using the specified pallet only after operator confirmation.
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The following table shows the main differences in the Pally-rePally terminology.
Pally | rePally |
Palletizing | Repalletizing |
Primary pickup position | Pick position |
Secondary pickup position | Drop position |
Empty pallet confirmation | New pallet confirmation |
Full pallet warning | Complete pallet warning |
Callbacks
Callbacks are fully supported by rePally. When using a custom path, however, there is a slight difference to be considered.
In a palletizing step:
onNextTask: called before the calculations of the next box start. Set MovePerformed=True to be able to use custom movement towards the pick position on the conveyor.
beforeGrab: called when the robot is about to pick a box from the conveyor. Use custom motion to the pick position if needed.
afterGrab: called when the robot is holding a box. Use custom motion to the pallet position if needed.
afterRelease: called when the robot has dropped the box on the pallet. Use custom motion back to the waiting position if needed.
In a depalletizing step:
onNextTask: called before the calculations of the next box start. Set MovePerformed=True to be able to use custom movement towards the pick position on the pallet.
beforeGrab: called when the robot is about to pick a box from the pallet. Use custom motion to the pick position if needed.
afterGrab: called when the robot is holding a box. Use custom motion to the drop position (conveyor) if needed.
afterRelease: called when the robot has dropped the box on the conveyor. Use custom motion back to the waiting position if needed.
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This is for developers only. |
Sample script to convert Pally.urp:
cat 7632Pally.dual.UR.urp | gunzip | sed 's/installation=\"/installation=\"rePally./g' | sed 's/installationRelativePath=\"/installationRelativePath=\"rePally./g' | sed 's/\"Pally\"/\"rePally\"/g' | sed 's/\.palletmanager\.Palletizer/\.repalletizer\.Repalletizer/g' | sed 's/\.palletmanager\.UserCallback/\.repalletizer\.UserCallback/g' | gzip > rePally.7632.dual.UR.urpurp
Sample script to convert default.installation:
cat default.dual.installation | gunzip | sed 's/fileName=\"/fileName=\"rePally./g' | sed 's/\"Pally\"/\"rePally\"/g' | sed 's/palletmanager/repalletizer/g' | sed 's/PalletManager/Repalletizer/g' | gzip > rePally.default.dual.installationinstallation
Please note: replace the file names in the scripts to your own file names accordingly.