All boxes on the pallet have a small rotation error
The small rotation is most likely related to the TCP RZ offset.
In some projects, especially where custom made grippers are being used, there might be small RZ offsets due to inaccurate mounting or welding. This is difficult to identify and measure.
In Pally v3.1 we have added a new test in the Calibration Test Wizard specifically to identify such offsets. Running the test will most likely suggest a small change in the TCP RZ offset.
The wizard estimates the RZ offset from the difference between the pallet center direction and the pallet corner calibration point directions as shown below:
When the test wizard is performing tests on the Left Pallet and the Right Pallet, and the question appears “The Left (Right) pallet center will be verified now” Select Yes to run the test. It will display a warning “You might consider adjusting the TCP RZ offset by … degrees.”
After adjusting the RZ offset, you’ll need to verify and recalibrate the pick position.