Layer 6 placing goes through layer 5 and colides [PickMaster 5]

PickMaster
1

In PM5, have a pallet pattern where the top layer (layer 6) does not clear layer 5 products when traveling to layer 6.

I have tried adjusting the safe heights and have not found success. Could there be something else?

2

Hi John,

You can increase the offset for layer 6, you will find it under operation ser configuration / layers.

//Jesper

3

In the OpSet, I did configure layer 6 with an Item offset of 100. I did not see any results. From the manual, it explains an item offset is when there is product in the tool, and a tool offset is when there is not product in the tool. I have tried both the item and tool offset and still have a collision.

4

Hi John

Have you checked your first safe pos for the place workarea?
Is there a short distance between the pick (or last safe pos) and place position (or first safe pos)?
/Mats

5

Mats-

We are not using any safe positions here. If we set a safe pos high enough to clear layer 5, it will take too much time on the lower layers if we have to go through that point.

6

Have you changed anything in your PmCalcIntermid for instance added a MaxZ parameter that may limiy a high intermediate position?

7

Yes,
VAR num MinZ;
CONST num MaxZLimit:=1500;
VAR num MaxZ;
VAR num MinYLimit:=-3000;
VAR num MinY;

Is this MaxZ = 1500 my problem? That could be very easy to fix.

Thanks!

8

Most certainly.
If you don’t need it for something else you can just remove it.

9

Thanks! Will try that tomorrow.

John