Custom Cell Components

Pallets can be imported as a user-defined 3D model and defined as unload. This requires the corresponding INI file to contain certain parameters.

The new pallet can be imported via "File", "Import", "Bending cell component…".
After the import, these unloading methods are immediately visible as storage locations.

Pallet INI file parameters
Value	Description	Unit
Type	InclinedPallet (Tilted pallet) Pallet (Pallet) Basket (Basket) STOPA (STOPA pallet) Conveyor (Conveyor belt)
Xmin	Start coordinate X (always bottom left)	mm
Ymin	Start coordinate Y (always bottom left)	mm
Xmax	End coordinate X (always top right)	mm
Ymax	End coordinate Y (always top right)	mm
Z	Height from the floor or top edge of the deposit surface	mm
BackWallTilt	Angle of inclination of the deposit wall (optional)	°
FloorTilt	Angle of inclination of the deposit floor (optional)	°

The Xmin/Ymin and Xmax/Ymax values indicate the boundaries of the unloading area.

The following are examples of user-defined pallets.

Tilted pallet

First, the pallet must be correctly defined with the alignment shown below.

Special pallet for stacking

Note that the point Ymin=0 should be at the "inner corner" of the pallet, as indicated by the yellow mark in the figure above. The height of the pallet, measured at this inner corner point, must also be taken into account. This must be set in the INI file for the pallet.

[DATA]
Type=InclinedPallet
Xmin=0
Ymin=0
Xmax=1200
Ymax=770
Z=151.124
BackWallTilt=2.148
FloorTilt=2.148

Note that the Z height measured in the above figure was entered in the Z parameter.

The "FloorTilt" parameter determines the angle of inclination of the deposit floor to be specified in degrees (in this pallet, it is similar to the "BackWallTilt" angle (deposit wall angle of inclination), the inner angle here is 90 degrees).

Example of angle of inclination

With this pallet, inclined stacking can be used to stack the parts correctly:

Special pallet for destacking, inclined stacking

Tilted pallet inclined stacking 1

The "Pitch" was set to -80 via the "Auto-pitch" command, and the "delta shift" was manually set to 27 mm to optimize the stacking of the parts.

Pallet

A user-defined 3D model can be imported as a type "Pallet" and can be used for the pick-up and unload processes.

The INI file must contain the "Type=Pallet" for the system to treat it as a pallet.

The Xmin/Ymin and Xmax/Ymax values should indicate the boundaries of the yellow pick-up/unloading area.

Example of pallet

[DATA]
Type=Pallet
Xmin=0
Ymin=0
Xmax=1000
Ymax=1200
Z=145

Basket

A user-defined 3D model can be imported as a "Basket" type and used for unloading. A basket model serves as the example here, the yellow area is the area of the basket in which the unloading can take place.

The INI file must contain the "Type=Basket" so that the system treats it as a basket.

The Xmin/Xmax and Ymin/Ymax values should indicate the boundaries of the yellow unloading area.

Example of basket

[DATA]
Type=Basket
Xmin=15
Ymin=15
Xmax=785
Ymax=585
Z=30

STOPA pallet

A user-defined 3D model can be imported as a type "STOPA" and can be used for the pick-up and unload processes. The example here is a STOPA model, the yellow area is the area of the conveyor in which pick-up or unloading can be done.

The INI file must contain the "Type=STOPA" for the system to treat it as a STOPA pallet.

The Xmin/Ymin and Xmax/Ymax values should indicate the boundaries of the yellow pick-up/unloading area.

Example of STOPA pallet

[DATA]
Type=STOPA
Xmin=0
Ymin=0
Xmax=4150
Ymax=1900
Z=465

Conveyor belt

A user-defined 3D model can be imported as a "Conveyor" type and be used for the pick-up and unloading processes.

The INI file must contain the "Type=Conveyor" for the system to treat it as a conveyor belt.

The X and Y values should indicate the boundaries of the yellow pick-up/unload area.

Example of conveyor belt

[DATA]
Type=Conveyor
Xmin=50
Ymin=4450
Xmax=1050
Ymax=5300
Z=850