We are depalletizing from a pallet where the object sometimes is slightly skewed. Unfortunately, the acceptable margin of error is very small with regards to the tool picking up the object. I think the problem could be solved using two photocells that detects the object – as soon as the object is detected lower the tool by e.g. 100 mm and activate the vacuum.
This will lead to the tool action point being different from time to time. Can I use a dynamical tool action point while using the de-palletizing function? If no, are there any other ideas how I could solve it?
There’s no problem in moving the robot relative to the tool action point, if you just insert it in that part of the palletizing sequence.
You can, for example, insert a Direction command after your tool action point. This Direction can move the robot in Z- until a sensor is activated. (until digital input is true)
This move will not affect your next calculated tool action point. Or do you want the palletize function to update according to the new object position?
You can also move the robot in a direction until a force is detected or a pressure sensor says the tool has made vacuum.
I need to rephrase myself. The z-position is always known. What is not known is x and y. See the attached picture. The position of the pallet (green box) is always fiixed, while the object on the pallet is not always fixed - it might be slightly skewed as seen in the picture (red frame).
The orange box symbolizes the tool and the two photo cells. I want to move that past the pallet and then move in the direction of the arrow until both cells are triggered. Then it should move downwards and pick up the objects - which in this case is lids on cheese boxes.
Ah, right. That makes sense. But it’s no problem either.
You can insert waypoints and commands in the Tool Action sequence in the Palletize. The waypoints will always start from the anchor point (Palletize calculated object position) and not be fixed with regard to the base frame.
Again, you can use the Direction command in X or Y direction until a sensor is activated.
