PalletSolver Modifying Place Exit Aircut Position

Overview

PalletSolver uses at least three calculated positions to move to a pick station from the last build or current position. These positions are calculated in a job corresponding to the defined gripper type. The first calculated position is called Pik_Aircut_1. This position takes the robot's current position and modifies the Z element to move the robot to a safe clearance height for the move to the pick station.

Example of the Pik_Aircut_1 move command and calculation with a Vacuum Gripper:

Problem

Depending on the location of the pallet relative to the robot, this calculated safe position may not be reachable due to the robot's mechanical limit. Below is an example of a GP25's working envelope when building a pallet.

Attempting to reach a calculated position outside of this working envelope can result in ALARM 4424 SPECIAL MECHANICAL INTRF. In this specific example below, the L and U axes are hitting mechanical interference.

Solution

Modifying the X or Y-coordinate data of the position Pik_Aircut_1 in the corresponding PLAN_PICK_BOX_(GRIPPER) job can move the position inside the robot's working envelope.

Below is an example of modifying the Y-coordinate of the Pik_Aircut_1 position when the last placed product is too close to the robot's origin on the Y-coordinate plane. A movement upwards from the position depicted below could cause a mechanical interference between the L-axis and U-axis if the box is placed too close to the robot's origin. Increasing the Y-coordinate value of the place exit aircut position prevents this interference.