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In which order the boxes will be placed within a layer on a pallet.
I. e. which box in the pattern is placed on the pallet first, which is placed last, and every box in between.With Inverted approach enabled, Pally will start with the box in the corner of the pallet front, closest to the robot.
With Inverted approach disabled, Pally will start with the box in the corner of the pallet front, furthest from the robot.
In which direction the next box should approach the previously palletized boxes.
I. e. what direction towards the current spot on the pallet to use in the robot path.With Inverted Approach enabled, Pally will place the boxes on the pallet moving towards the pallet front, and towards the robot.
With Inverted Approach disabled, Pally will place the boxes on the pallet moving towards the pallet front, away from the robot.
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Example 1: Inverted Approach Disabled
In the image below, a snippet from Pally Pallet Builder demonstrates a pallet pattern not using Inverted Approach. Note the position of the first box and the Approach Direction visualized by the arrows marked in red.
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Example 2: Inverted Approach Enabled
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The benefits of enabling Inverted Approach are highest when palletizing layers which are lower than the robot should joint and the conveyor. A rule of thumb for enabling Inverted Approach is when palletizing layers below the gripper position at ‘Box Free Height’. |
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Quick way to Enable and Disable Inverted Approach
In Pally Pallet Builder
After making a new patter, or uploading the existing one, select the following from left to right in the menu bar (also see image below):
Pallet
Reorder
Hamburger menu on the layer to edit
‘Edit this layer’ in the pop up menu.
This will take you to the ‘Edit’ view of the layer. Click ‘Settings’ in the bottom of the left pane, and the pop up will alow to toggle Inverted Approach on and off (see images in Example 1 and 2).
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When clicking the three vertical dots on a layer type you will be presented with the option to activate or deactivate the Inverted Approach (default is deactivated)
Inverted Approach is
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NOTE: this button will change the approach type for all layers with the same layer type!
Inverted Approach is
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NOTE: this button will change the approach type for all layers with the same layer type!
In the pallet pattern .json file
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