Move pallets between plane

J_Spittlehouse

Hi All,

I'm working on an application where I'll be palletizing two pallets with the same pattern simultaneously.

As a note I'm mainly used to working with Staubli/VAL3 which seems more OOP than UR, so maybe I'm thinking of this the wrong way.

Ideally I'd like to teach the pallet pattern once, and then be able to transpose this onto the needed plane.

Is this possible with the inbuilt wizards on the GUI, or am I going to have to scirpt this myself?

thanks

David_Gouffe

Hi, 

I don't think the pallet wizard from UR allow this kind of approach. 

You can set 2 pallet sequence and use simple position shifting to go to the new pallet position shifting all the points the same way. 

The picture shows a basic script that could work (on the first point parameter of the pallet wizard Approach_1). 
Then each point of the wizard need to be offset then touched up in the second pallet wizard. 


You can try using "Variable position" at the top right corner of the pallet node to set the values. We never tried it.  (View second picture.) 

However, I would suggest having 2 pallet node, 1 per real pallet to avoid any side effect as parts counter shift on the wrong pallet. 

If this is too limiting, yes you can use script to manage yourself the positions and offsets. It is always a work around when you want something to work the way you want. Script can be embedded inside a typical UR program running. 

Hope this helps you figure out how to do this. 

-Have you taken a look at the new vacuum grippers ? They can really ease palletizing tasks. 

Regards,

David Gouffé
Integration Coach
Coach en intégration

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