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Robot movement when placing box: Pickup position → Box free height → Smart Exit → Extra waypoint (max. 3) → Approach Position → Target Position |
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Robot movement when travel back to grab new box: Vertical exit point → Extra waypoint → Smart Exit → Above pickup -->Pickup position |
The path starts with a position above the pickup point to ensure the gripper moves vertically down against the box surface. After picking the products, the robot moves vertically up until the box is removed from between the side guides. Depending on the current pickup and target positions, this is followed by one or more waypoints in order to move and rotate the box(es) without collision to the robot base or the existing boxes on the pallet. The approach position is the last waypoint in the proximity of the final target position. The robot uses lower acceleration and speed from the approach to the final target position to improve the pallet accuracy.
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