Pallet calibration

Owned by Lars Martin Gjeraker (Unlicensed)
Last updated: Oct 05, 2023 by Csaba Mucsi
2 min read

 

Each pallet has three calibration points. When calibrating the three points it is important to keep orientation of the gripper the same way. Read tips at the bottom

 

Recommended calibration steps

Left Pallet

  1. Upper right corner

  2. Down right corner

  3. Down left corner

Right Pallet

  1. Upper left corner

  2. Down left corner

  3. Down right corner

Recommended Pallet calibration points
Recommended Pallet calibration points

The calibration steps will mathematical create a rectangle and check for these statuses:

  • Pallet orientation

  • Floor skewness

  • Origin point (step 1 corner)

Created rectangle after calibration the pallets

 

Place the calibration box in any of the corners and place the gripper perfectly in the center on top. Save the position by pressing the Change position button. Repeat this process for all three corners shown on the screen.

 

Expert tip: Calibrate the pickup position with the gripper perfectly in the center of the box, then turn on the vacuum so that the box attaches to the gripper. You now have an good relation between the griper, box and the pallet. Move the robot down to the corners of the pallet to calibrate.

 

Note: The gripper/tool connector must face the same direction on all three calibration points.

 

If you are still not satisified with the calibration accuracy, use the following script code for fine tuning alternatives.