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NOTE: The 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 and above
The test cases are divided into test groups. Currently there are 4 groups:
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Moving parallel to the conveyor: this test can help detecting detect calibration issues related to TCP settings.
Moving to the pick position with 180 degrees rotation: this test can help detecting detect 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)
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Verification of the pallet size: this test can verify that the calibration box was used as required.
Verification of the pallet center direction (Pally 3.1 and above): this test will compare the pallet orientation and the calibration box orientation, and eventually suggest a small adjustment in the TCP RZ offset.
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)
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