Rally URCap Manuals

Manuals and User Guides for Rally URCap. We have 1 Rally URCap manual available for free PDF download: User Manual

Rally URCap User Manual (117 pages)

Brand: Rally | Category: Tiller | Size: 5 MB

Table of Contents
2
Document Revision Information
6
License
7
Requirements
8
Software Requirements
8
Hardware Requirements
8
Supported External Hardware
8
Compatibility Notes
8
Compatibility Notes for Version 2.6 and above
9
Path Planning
9
Productcount
9
Compatibility Notes for Version 2.7.1 and above
9
Pallet Confirmation Variables
9
Compatibility Notes for Version 2.8 and above
9
Execution of Beforezone and Afterzone Callbacks
9
Execution of Beforegrab Callback
9
Waiting Time at Pickup and Release Positions
10
Compatibility Notes for Version 2.9 and above
10
Urcap API
10
Definition of Multi-Zone Grippers (Gripper.json)
10
Multi-Pick Fewer Boxes
10
Optional Posdata in Zones.json
10
New Callback Onnexttask
10
Compatibility with CB 3.0 Robots
11
Memory Usage Limitations on CB
11
Computational Limitations on CB
11
Functional Description
12
The Palletizer Workflow
12
Pallet Patterns
12
Pallet Completion State
13
Pickup Position
13
Single Pick and Multi-Pick
14
Gripper Alignment at the Pickup Position - Offset Grip
14
Gripper Rotation at the Pickup Position - Gripper Optimization
15
Grip Quality Value - Smart Acceleration
15
Path Planning
16
The Path Planning Algorithm
16
Approaching the Target Position
18
Pallet Lip
20
Return Path
20
User-Defined Path
20
Shim Papers
20
Lifting Column
20
Positioning the Lifting Column for each Layer
21
Positioning the Lifting Column for each Box - Dynamic Positioning
21
Custom Positioning - Zones
22
Zones
22
User Extensions - Callbacks
24
Physical Installation - Best Practice
26
Robot Installation
26
Check Joint Positions First
26
Robot Position on the Base Column
26
Attach the Gripper Properly
27
Lifting Column
28
Layout
29
Supported Pickup Positions
30
Suggested Sensor Placements
33
Dimensions
34
Pallet
34
Pickup from Conveyor
34
Important Parameters to be Measured
37
Gripper
37
I/O Connections
38
Installing and Configuring the Urcap
39
Installation Settings
39
Overview
39
License
40
Gripper
41
Lifting Column
46
Input/Output
50
Using MODBUS or General Purpose Boolean Registers
50
Input/Outputs in Pally
51
Patterns
53
Advanced
54
Program Settings
56
Pickup
57
Calibration Box
57
Primary Pickup
58
Secondary Pickup
62
Pallet
63
Movement
65
Advanced
69
Callbacks
76
Examples: Typical Configuration Scenarios
79
Classic Setup with One Optimal Pickup Position
79
One Pickup Position with Products Coming in from the Side
79
One Pallet Position and One Pickup Position on the Opposite Side
81
Two Parallel Pickup Positions
82
Two Opposite Pickup Positions
85
Limited Space, Walls Other Object
86
Using the Palletizer Program
87
Creating the Main Program
87
Starting the Program
87
Using the Program
88
Single Product Mode
88
Dual Product Mode
90
Partial Pallet
95
Edit Total Boxes
96
Edit Start Conditions
97
Recovery from Error
98
Shutting down the Robot
98
Creating Patterns
98
The Pallet Pattern Definition File
98
Project Overview
99
Layer Types
100
Box Position
101
Box Rotation
101
Box Order
101
Enforced Single/Multi-Grip
101
Gripper Rotation at Pickup
102
Left and Right Pallet Layout
102
Inverse Approach
103
Shimpaper
103
Layers
103
Zones
103
Conditions
105
Position Transformation
105
Location of the Zone Definitions
105
Uploading New Patterns
105
Advanced Configuration Variables
106
Naming Conventions
106
Changing Configuration Variables at Startup
106
Changing Configuration at Runtime
106
List of Available Configuration Variables
106
Speed and Acceleration
107
Calibration Points
107
Path Planning
108
Gripper
110
Lifting Column
110
Other/Special
111
Palletmanager Daemon Process
114
Using the Palletmanager Daemon
114
Pallet Dimensions
114
Product Dimensions
114
Pallet Completion State
115
Troubleshooting
116

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