Pally General - Palletizing bags and sacks

Create the pattern in MyRobot.cloud by choosing Sack/Bag as product type.

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If you like to palletize the bags so they overlap each other, you can customize your pattern and choose Ignore collisions. You can now create patterns with overlapping products.

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Things to consider when palletizing bags and sacks.

Depending on the quality of the bags, they will most likely deform during palletizing. This increases the possibility of encountering crashes while placing the bags on the pallet. We recommend leaving enough space between the product and the pallet when calibrating the pallets.

Because the sack can deform, we recommend moving towards the target position on the pallet from a higher angle. We recommend setting a custom approach distance in the onNextTask callback. The default approach distance is 30mm in all 3 directions, X,Y,Z. What values to choose depends a lot of the quality of the product, but having a higher Z value than the value of X and Y is recommended.

Example: rf_approach = [-0.03, 0.03, 0.10]

We recommend setting approach distance to fixed when palletizing bags to ensure that the rotation is completed before moving towards the target position. This will help to avoid crashes between deformed products.