PalletBuilder - Creating Approach Vectors to Resolve Box Placement Interference

If boxes interfere with one another when being placed on the Build Station, incorporating an angled approach vector from the empty side of the pallet can help prevent collisions with the outer edges of the existing products, accounting for imperfect conditions.

When programming the motion path in the Place Layer definition, utilize multiple approach points and offset them toward the side of the pallet that is empty. This ensures the box is guided toward the existing products at an angle rather than directly downward.

Example demonstrating an approach vector with two approach positions:

PalletBuilder will generate recommended position values for the Approach, Place, and Departure positions based on the product dimensions (all Approach/Departure positions will generate identical values). Therefore, only adjustments to the X and Y values are typically necessary for the first approach position. 

In this example, a 50 mm offset is applied to the (X, Y) coordinates of the Place location. This offset is intended to position the approach location within the empty side of the pallet. Depending on the orientation of the User Frame and the placement sequence, the offset may vary. For this scenario, product is being placed such that the approach vector originates from the +X and -Y directions relative to the first box.

The X coordinate of the first Approach position was set to the X coordinate of the Place location plus 50 mm, while the Y coordinate of the first Approach position was set to the Y coordinate of the Place location minus 50 mm.

The second approach position is a MOVL command to directly above the place location at at approximately half the height of the product.

The place position is a MOVL command directly downward from the second approach position.

The picture on the left is the first approach position. The middle picture displays the second approach position. Lastly, the picture on the right shows the place position.