::heading=Context
This function will be available from Copilot release 1.24. It can help in some difficult palletizing cases.
::heading=Knowledge
How to access the JSON backdoor
Create a feature point called RQ_PAL_JSON in the Installation menu. This will unlock the JSON backdoor in the Settings section of the Palletizer node.
::info= To make the feature effective, you need to teach a point (any will do).
The ''Additional pallet JSON parameters'' field appears in the Settings menu of the Palletizer node.
How to calculate the approach angle
::info=The approach angle is measured in rad.
By default, the approach angle is calculated by applying a clearance of approximately 10% of the height of the boxes used. Only the angle of the descent is adjustable here (relative to Z-axis), not the path used by the solution to place the box (order and direction).
This default value is calculated as follows :
How to set approach angle
Use the following syntax to fill the JSON field in the Settings section. Here the angle is set to 0.087 rad:
0 Comments