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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 possible 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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