● Use "lock direction" for all boxes wherever possible.
● Disable 2-ways and 4-ways gripper optimization and only add the enforced gripper
orientation at positions where it is needed.
● Use the "inverse approach" option for all layers except the highest layers.
4 - Functional description
4.1 - The palletizer workflow
The typical use case for a palletizing robot is described as follows:
● The operator starts the robot and the palletizer software,
● The operator enters the product name to be palletized,
● The robot starts palletizing on an empty pallet,
● When the pallet is full, the operator must replace it with an empty pallet,
● Palletizing continues until the operator stops the program.
In addition to the above described default use case, the following scenarios are also
available in Pally:
● Build a partial pallet, i.e. palletize fewer boxes and/or layers than usual,
● Continue an incomplete pallet, i.e. specify the starting layer/box position,
● Palletize from 2 pickup positions,
● Palletize 2 different products from 2 pickup positions on 2 pallets simultaneously.
Note:
Every pallet is built of one specific product type. Thus, it is not possible to palletize
different products on the same pallet.
4.2 - Pallet patterns
Every product has its own pallet layout, depending on the box dimensions and the label
position on the boxes. Some products have to be palletized using interlocking layers, which
means that every second layer is mirrored or rotated in order to improve pallet stability.
Other products have to be palletized so that the boxes are put exactly on the top of each
other. The palletizer software can handle these requirements by defining the
Note:
A pallet pattern is the logical representation of a pallets layout, which can be
dynamically loaded into the program. The number of supported patterns is only limited by the
available disk space.
Version 2.9.1
© Rocketfarm AS 2021. All rights reserved.
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