Pally for Doosan - Calibration
Note: There are several points to be calibrated here. You can use the ‘freedrive’ mode on the robot, or the built-in ‘3d’ view, or the ‘jog plus’ screen. The ‘teach…’ buttons in Pally will not open any dialog but silently update the corresponding settings.
It is important to use width and length values consistently during the calibration. Make sure you use the width and length values as illustrated in the following diagram, and do not swap width and length in any position.
Starting Position
The starting position is essential for all waypoint calculations. Move the robot to a position where it is above the conveyor and there is a comfortable distance (approx. 30-40cm) between the gripper and the boxes.
When you press the “Teach start position” button, it will store the actual robot position and joint angles without further notice.
We recommend calibrating the starting position with the Joint 4 at 0 degrees for best performance.
Calibration box
Enter the calibration box dimensions in mm and press ‘Save changes’.
The calibration box does not have to be the same as the one you intend to palletize later. It is more important that the box is stable and accurate. We recommend that the box be slightly bigger than your gripper. This makes it easier to place the gripper perfectly centered on the box, with equal distance to all sides.
Conveyor
Here, you’ll calibrate the pick position and measure the conveyor dimensions as described below.
Calibrate the pick position with the calibration box on the conveyor. Place the box in the position where you are going to pick up the box during palletizing, where the box is aligned with the stopper and the fixed guide.
Position the center of the gripper perfectly at the center of the box. Make sure the connector is pointing down the conveyor. Measure the distances and make sure the distance is the same on both the left and right sides of the gripper, as well as front and back.
Also, make sure there is no rotation of the gripper compared to the box.
Compress the foam or the suction cups approximately 50% to ensure good contact between the box and the gripper before setting the pick position.
After calibrating the pickup position, turn on the vacuum so the box will stick onto the gripper, before calibrating the pallets.
Measure the conveyor total width, including all obstacles like the motor, sensors, etc. Measure also the distance from the fixed guide to the side of the conveyor, as illustrated in the following image. Values are in mm.
Choose your ‘Fixed guide position’, left or right, and also add ‘Fixed guide’ width.
At the end, you press 'Save changes'.
Pallets
Depending on your actual setup, you can have one or two pallet positions as illustrated below:
Each pallet requires three calibration points.
We recommend that you activate suction on your gripper when you are done with pick-up calibration. That way, you ensure that the box is in the same position during pallet calibration, and this makes it easier to do a good calibration.
Make space between the calibration box and the pallet so that the foam or suction cup has room for expansion without causing a protective stop caused by a detected collision.
After setting the first position, move to the next position with the tool view. Move in a straight Y direction. If you see that the box starts drifting outwards or inwards on the pallet, this is an indication that you have placed the gripper on the box with a slight rotation in the pickup position calibration.
Recalibrating the pickup position is recommended before returning to calibrate the pallet positions.
Remember to measure and, if necessary, adjust the height so that the distance between the box and the pallet is the same in this position as in position 1.
After setting the second position, move to the next position with the tool view. Move in a straight X direction. Make sure the box follows the edge of the pallet. Measure and maybe adjust the height so the distance between the box and the pallet is the same in this position as in position 1.
Enter the height of the pallet (in mm) that you have used during calibration.
We recommend that you run a test of the calibration to ensure that the calibration is good. You can do this by going to ‘Advanced’ and ‘Run test wizard’. Alternatively, you can do it as part of the export process.