Palletizing
When you open the main interface of the palletizing menu you can choose to have a palletizing project, a de-palletizing or a process setup (which includes both).
Follow these steps to setup your palletizing project:
5.Select the Palletizing option.
6.Select the frame where you wish to stack the boxes; In this case, Pallet. You can either type the name of the frame directly or use the “+” button to select it from a list.
7.Using the 3D interface, move your robot near the middle of the pallet. This position will be used as a reference configuration for the robot pose.
8.Press the “+” sign linked to the Robot configuration text box and select Current robot position. Alternatively, you can also select an existing target.
9.For a Palletizing project, make sure Generate Targets is checked and Generate Models is not selected.
10.Move to the Object tab to import the required objects.
11.Select the pallet you imported in your RoboDK Station. Alternatively, if you don’t have the 3D model, you can simply enter the dimensions.
12.A 2D representation of your pallet will appear in the 2D interface. The X and Y axes should match with the X and Y axis of the Pallet reference frame of the 3D environment.
13.Enter the dimensions of your box under “Create object”. Alternatively, you can position the 3D model of your box onto the Pallet reference frame and use “Select Model Object”. This option will require you to select a target on top of the box. More details on that in a future example.
14.Once you click on Create object, 4 boxes will appear on the left side of your screen. One box per possible 90-degree rotation. A red and a green line will show the rotation of the TCP around the Z axis.