Do this if:
Setting up the robot system for the first time
Moved the conveyor to a new position
Place the calibration at the pickup position and place the gripper in the centre of the calibration box. Press Change point and save the position.
Note:
If using a lifting column calibrate the pickup position when fully retracted (0mm)
Make sure that the gripper is perfectly in the center of the box.
Make sure the tool connector is facing upward the conveyor when saving the position. See gripper mounting.
If you use a lifting column in the project, make sure you reach the pickup position when the column is at full stroke.
The pickup position is at the end of the conveyor belt, where the boxes stop and wait until the robot picks them up.
The conveyor direction is calculated directly from the Y-axis of the tool coordinate system at the pickup position, as shown in Figure 1.
Figure 1
Pally supports a wide range of grippers, and some of them might have either position, rotation, or both offsets that must be taken into account when TCP is being configured. To verify the TCP settings are correct, perform the following steps:
Move the robot to the pickup position.
Now go to the Move tab, and select "Tool" in the drop-down called "Feature".
Now press the Y- arrow button and the gripper should move parallel to the conveyor and in the direction where boxes arrive from, i.e towards box 2.
Press the Y+ button, and the gripper should move back to the end of the conveyor.
When the gripper is above the box on the pickup position, press the RZ+ and RZ-buttons: the gripper should rotate around its own center point and not around the robot tool flange. Rotating by 180 degrees, the gripper should remain perfectly above the center of the box at the pickup position.
Tool connector
Make sure the tool connector points in the direction of the other boxes when calibrating.