Approach Distance
The parameter Approach Distance in the Pally program node specifies when the diagonal movement towards the box’s target position on the pallet should be initiated. The distance is given relative to the target position.
If you do not check the ‘fixed’ checkbox, Pally may recalculate the approach distance to a different value than what’s given.
Check the ‘fixed’ checkbox to force Pally to use the approach distance specified.
This applies to both when you set the distance in the Pally program or when you set the variable manually in a callback.
Please note that as the robot enters the approach distance, the speed will also be lowered. As this is typically an area that requires greater accuracy.
The default value of the approach distance is 30 mm. If you wish to alter this value, simply click in the input field and type in your desired approach distance.
You can also use the variable to set the approach distance as you like. You can change the distances to your own needs, and we recommend doing it in the onNextTask callback.
rf_approach | Approach distance, represented as an [x,y,z] array in meter. NOTE: the x component should be negative. e.g. rf_approach=[-0.03, 0.03, 0.03] | Program / Movement / Waypoints / Approach |
If you check the “fixed” checkbox Pally changes the path planning and adds an extra waypoint to complete rotation before appoach, see picture below.
