[brares17]

Hello,
I am currently working on a palletizing application in RoboDK using a custom-made parallel finger gripper that I designed and attached to my robot.
I am encountering an issue during the palletizing process. The robot places the boxes on the pallet in the correct physical positions, but in the station tree they do not appear to belong to the same reference frame. Instead, the boxes seem to be listed under the world frame rather than under the pallet (or the intended reference frame).
Because of this, the palletizing setup does not behave as expected when I try to move or adjust the pallet frame.
I suspect I may be making a mistake related to reference frames, targets, or object parenting, but I am not sure exactly where the problem is.
Could you please help me understand what I might be doing wrong and what I should check to make sure the boxes are correctly placed relative to the pallet reference frame?
Thank you in advance for your help.

[Jonathan L]

Hi,

It seems like your "detach" program event wasn't properly set. It's in that instruction that you can specify where to attach the object when you detach it from your tool.

In your case, it's in your "Detach_box_c" program, which contains the Event instruction. Simply change the "attach to parent:" parameters, from the station origin to your pallet reference frame instead. I've attached a screenshot to help understand what I mean.

Best regards,

Jonathan Lambert, P.Eng.
Product Manager