Pallet Builder Collision Avoidance

Pallet Builder's path planning between Stations is a single Joint/Linear Move from the last Station's final Departure Position to the next Station's first Approach Position. The movement type is dependent on the motion type chosen for the next Station's first Approach Position. Collision avoidance for the robot's path around physical obstacles needs to be accounted for using one of the recommended methods below:

Method 1:

Additional Approach and Departure Positions.

An example of additional Departure Positions can be found below, where a second Departure Position is used to move the robot away from the Infeed Station before traveling downwards to the Build Station's first Approach Position.

Build Station positions can be classified as either "Fixed" or "Relative".

• Fixed: The position is fixed in space, so the robot will always move to the same position regardless of the part it is handling. A user may want to specify a position as fixed if their robot must avoid some obstacles before moving relative to the current part.
• Relative: The position moves with respect to the current part that is being handled, so that the approach/depart path is the same relative to the part.

Method 2:

Call Job feature associated with each Station.

During Cell Setup, every Station can be defined with a call job before/after the Station's pick/place operation.

A simple example can be found below, where D010 is the height needed to clear the Infeed Station for the Joint Move from the last Departure Position of the last placed product to the Infeed Station's first Approach Position. The job CLEAR_INFEED is called before the robot travels to the Infeed Station to pick product. Therefore, the robot's current position, at the moment the job is called, is the last Departure Position of the last placed product or the starting position for the very first pick. The job is looking at the robot's current position and checking that the Z component is higher than the height needed to clear the Infeed Station. If it is not, then the robot will move upwards from its current position to the necessary height needed to clear the Infeed Station for the Joint Move to the Infeed Station's first Approach Position.

//CLEAR_INFEED.JBI
NOP
GETS LPX000 $PX001
GETE LD000 LP000 (3)
IFTHENEXP LD000<D0010
    'Move to safe height to clear
     SETE LP000 (3) D0010
     MOVJ LP000 VJ=50.00
ENDIF
END