Pallet calibration quick fixes
- Csaba Mucsi
This article is more than a year old and contains information that is suitable for Pally versions below 3.3.
In Pally 3.3 and newer versions, you can use the new Pallet calibration adjustments Wizard to fix pallet calibration issues instead of using the script provided here.
It can happen that your pallet calibration is not accurate even though you tried the best to align the calibration boxes as good as possible to the pallet corners. Maybe the boxes are not perfect rectangles, or the gripper is not holding them stable enough, but you want to proceed as fast as possible.
Don’t worry, we have also gone through this situation many times, and finally created this handy script that will help you in minutes.
Just include this script in the initial MoveJ node under the Pally program node, and call the functions as described below.
The script can modify the pallet position and rotation at startup. If you have both rotation and position errors, just add the corresponding command in the right order and get the errors corrected.
The script provides 2 functions:
RotatePallet: rotates the pallet around its center point. Usually you will rotate around the Z axis but you can also specify x and y to compensate tilted floors.
MovePallet: moves the pallet in a coordinate system parallel to the pallet edges. If you have a rotation error, make sure you apply RotatePallet prior to MovePallet.
Examples:
The script works with all Pally versions.