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AZalmanovAZalmanov Posts: 15 Apprentice

In my application we have a UR5 along with Robotiq 2-finger 85 gripper. In my application a stack of 5 trays are fed to the robot. I would like for the robot to take one tray from the stack perform a pre existing palletizing sequence then when the tray is full get a new tray from the stack and place it on top of the completed tray. I am using stack and de-stack from the seek wizard. What I am having trouble with is orienting the pallet program to the position of the new tray. I assume interpolation will need to be done to achieve this. Any input would be appreciated.

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  • AZalmanovAZalmanov Posts: 15 Apprentice

    @David_Gariepy

    Yes this is part of what I need to make this work, what I mean is how do I increment the position of the four corners of my pallet upwards in the z direction in correlation to the number of trays in a stack. 




  • AZalmanovAZalmanov Posts: 15 Apprentice
    Oh, are you suggesting I use a cube pattern instead of square?
  • David_GariepyDavid_Gariepy Posts: 84 Handy
    Using the box pattern the incrementation will be done automatically when you enter the number of part between the corner 1 and the corner 5.

  • David_GariepyDavid_Gariepy Posts: 84 Handy
    Yes use the cube pattern
  • AZalmanovAZalmanov Posts: 15 Apprentice
    Okay, I have done what you have suggested and everything seems to work fine. However, I believe the seek function does not remember its last position and always collides with the stack of trays when reaching for the second tray (as if it expects there to be more trays). Is there a setting I have missed that forces the robot to remember where it found its last tray?
  • David_GariepyDavid_Gariepy Posts: 84 Handy
    Dis you set the item thickness in the wizard?
  • AZalmanovAZalmanov Posts: 15 Apprentice
    Yes, I got to the bottom of my problem. For some reason the TCP was not being changed between the two programs. However now the box palletizing sequence seems to be using the wrong TCP, Although I added a set command to change TCP before start of the palletizing wizard. Two steps forward one step back.
  • AZalmanovAZalmanov Posts: 15 Apprentice
    Yes, that was the problem everything seems to be working fine. I wish there was a display for TCP at each waypoint. Thank you very much for your help.
  • David_GariepyDavid_Gariepy Posts: 84 Handy
    You can also change the TCP in the move node


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