Fictional pallet calibration
- Roger Almaas
- Lars Martin Gjeraker (Unlicensed)
- Marlene Niemeier (Unlicensed)
Large pallets and large offset on grippers can be a challenge when calibrating the pallet. If you experience this problem there is a solution.
Since Pally does not calibrate the actual pallet you use in the project, but instead calibrates the orientation of the pallet, creates an origin to use any pallet and skewness on the floor - you can use any pallet dimension and for example make the pallet smaller. Follow the steps below to generate a fictional pallet.
Calibration point 1:
Calibrate the corner closest to the conveyor belt. Save the position by pressing Change point and then OK. This corner calibration is the same as for the regular pallet calibration and is the corner that creates the origin so that any pallet can be used in the project.
Calibration point 2:
From Calibration point 1, move the robot straight backwards to an OK length where you have enough reach. Save the position by pressing Change point and then OK.
Calibration point 3:
From Calibration point 2, move the robot straight outwards to an OK length where you have enough reach. Save the position by pressing Change point and then OK.
Note: All three calibration points must be in line - Calibration point 1 should be in line with Calibration point 2, and Calibration point 2 should be in line with Calibration point 3.
Note: The tool connector must point in the same direction for all three Calibration points (most favorable towards the conveyor).
Note: The height calibrated must match the same height of the pallet used in the palletizing project.
Note: Keep in mind that the larger the area the better the calibration.
Tips: Use an tape to mark up a fictional pallet on the pallet you have available.