Index
Basic Pallet Settings
Entry Adjust
The three parameters together determines the path along which the robot enters the stack area. Adjust the entry path to make the held box approaches the palletized boxes at a specified angle, and then the held box will be placed vertically. If the box is directly placed on the stack in a vertical path, collisions may occur between the robot, held box, and the palletized boxes possibly due to accuracy and other factors.
For each box, there are four points to enter the stack area. This parameter determines three points: entry point (P2); adjustment point (P3); and placement point (P4).
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1: Vertical Adjust Length; 2: Vertical Margin; 3: Entry Angle Z |
| Parameter | Description |
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Vertical Adjust Length Ratio |
As shown in the right figure, vertical adjust length ratio = vertical adjust length (1) / the height of the box. |
Value range: 0–1; recommended value: 50%. |
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Vertical Margin |
As shown in the right tag 2. |
Value range: 0–+∞; unit: mm; the specified values depend on different application scenarios. |
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Entry Angle Z |
As shown in the right tag 3. |
Value range: -80°–80°; recommended value: 30°–45°. |
Auto Middle Point
The Auto Middle Point is the direction indication of entering into the stack area, not the actual point reached by the robot. To avoid squeezing and collisions during the placement of boxes, the auto middle point should be as far away from the pallet as possible to ensure adequate safety spacing.
X/Y
The X/Y-coordinate of the reference sphere in the world reference frame. The reference sphere (the small pink ball in the 3D simulation area) determines the position of the auto middle point.
Minimum Height Z
The minimum height in the Z-direction of the robot entering into the entry section (the purple path).
Maximum Height Z
The maximum height in the Z-direction of the robot entering into the entry section (the purple path).
Keep Entry Segment Vertical
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Unselected by default, i.e., the robot will approach the stack from the auto middle point. |
After selecting, the robot will approach the stack in a direction perpendicular to the pallet. |
Extended Distance For Entry
This parameter is used to extend the distance for entry.
When the tool is larger than the object being picked, the default entry path may not be long enough, resulting in a collision between the tool and placed boxes. In this case, extending the distance for entry can improve safety, avoiding the collision between the robot and placed boxes or other barriers in the process of robot movement.
Adjust Pallet via Vision
Select “Need Adjust Pallet Pose” and then set the “Vision Service Name” to apply a vision project for the stack recognition, thus adjusting the pallet dynamically.
When the project runs this Step, the software will execute the corresponding vision project and update the position of the pallet based on the vision result.
Motion Control
Acc&Vel Scale Ratio
This parameter is mainly used to slow down the robot during the placement process to ensure a more stable placement of the boxes.
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The velocity (acceleration) of the entry section is the same as the set velocity (acceleration) in the “Basic Move Settings.”
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The velocity (acceleration) of the adjustment section and placement section: the velocity (acceleration) of the entry section ✖ this parameter (Acc&Vel Scale Ratio).
Basic Move Settings
Some of the trajectories during box palletization are shown in the figure below.
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P0: reference point; P1: intermediate point; P2: entry point; P3: adjustment point; P4: placement point.
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P0-P1: intermediate point segment; P1-P2: entry segment; P2-P3: adjustment segment; P3-P4: placement segment.
Motion type
Joint move |
Joint motion, which guides the robot to move in a curved path. It is less likely to reach singularities in the path for joint motion.
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Linear move |
Linear motion, which guides the robot to move linearly.
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Singularity Avoidance
When the motion type is Linear move, enabling this function can simulate linear move by joint move with multiple segments, thus reducing singularity problems to a certain extent.
Parameters Setting
| Limit to Motion Segments | Specific Number | No Limit |
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Feature |
Simulate linear move using joint move with a user-specified number of segments. |
The software calculates the number of segments needed to simulate linear move. |
Advantages |
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Disadvantages |
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| Parameter | Description |
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Number of Segments |
When the Limit to Motion Segments is set to Specific Number, it refers to the number of joint motion segments specified by the user. |
Max Position Deviation |
The maximum allowable deviation of the new multi-segment joint motion path from the original linear motion path. The greater the max position deviation, the higher the success rate of singularity avoidance, and the lower the similarity between the actual trajectory and the straight line. |
Max Angle Deviation |
The maximum allowable angular deviation of the new multi-segment joint motion path from the original linear motion path. The greater the max angle deviation, the higher the success rate of singularity avoidance, and the lower the similarity between the actual trajectory and the straight line. |
Velocity & Acceleration
Velocity and acceleration determine how fast the robot can move. Usually, the set acceleration should be lower than the velocity. When the set acceleration is higher than the velocity, the robot will move in a choppy way.
| The velocities of Vision Move and its prior and subsequent Steps should be relatively low to ensure that the objects can be picked steadily. |
Blend radius
Usually, the default setting can be used.
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The blend radius refers to the distance between the target point and the point where the robot starts to turn. The larger the blend radius, the more smoother the robot motion transitions are. If the robot moves in a relatively small space, please set the blend radius to a smaller value.
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If the robot moves in a relatively large space without obstacles and the distance between two consecutive path segments is long, please set the blend radius to a larger value.