Hi
I’m picking 4 boxes at the time (290x390) and placing them on a EUR pallet. I have the tool position between box 2 and 3 so the boxes are centered in the gripper.
On every layer I place 2 picks where I rotate one pick 180deg to get the facing right.
The problem is that the boxes in the 2 rows aren’t align on the pallet, the difference are around 20mm between the two rows on each layer.
If I don’t rotate the second place the rows align ok.
How is the calculation done in PM when calculating where to pick/place products
userframe<->objectframe<->toolframe?
Hi Per,
(To start with) I recommend that you verify the calibration of the work object for the infeeder. Make sure that the pick up location of the boxes is correct, i.e. as seen in the graphical view of the format operation set dialogue. If the pick up location not is accurately defined, the resulting location of the boxes in the tool after the pick-up may get an offset which will cause a place offset error that depends on the place orientation on the tool. So if the boxes are placed with the same tool orientation, the place offset error will go in the same direction for both places. If you use diffent orientations of te tool, the place error will cause a bad alignment of the boxes.
Best regards,
Anders
Hi
I have verified the pick position on the infeeder is correct. Also checked the current tcp and target at place positions values seam to be ok.
Issue solved.The reason was that the person mounting the gripper on the robot had monted it ~1deg from zero on axis 6.