Zones

DIFICULTY advanced

Normally, the robot completes a layer before starting the next layer. However, with Pally, you can split the pallet into different areas - called zones - along the X, Y, and Z-axis. As a general rule, a zone cannot be started until the previous zone is finished.

The coordinate system when palletizing starts at the corner of the pallet, indicated with yellow stars in the picture below. The yellow star is position 0,0,0

Using the zones.json

Each project can have its own zones.json file. The file name should be based on the name of the project. If the project has the name pattern1.json, then the zones file must have the name pattern1.zones.json

A default file zones.json can be also created for all other projects that don’t have their own file.

If your project needs the zones feature, please get in touch.

Example of zones code controlling a lifting column:

Note: The code below has 3 heights.

Note: The code will be checked before each layer

If the altitude of the current layer is below or equal 200 mm the lifting column will not rise
If the altitude of the current layer is below or equal 500 mm the lifting column will rise 200 mm
If the altitude of the current layer is above or equal 501 mm the lifting column will rise 400 mm

[
{
	"z" : { "condition" : "<=", "value" : 200 },
	"posData" : [0,0,0]
},
{
	"z" : { "condition" : "<=", "value" : 500 },
	"posData" : [0,0,200]
},
{
	"z" : { "condition" : ">=", "value" : 501 },
	"posData" : [0,0,400]
}
]