Multi Case Gripper in PalletPRO

I'm having difficulty getting a mult-case gripper to pick from the same spot for each pick in PalletPRO. I need to have one edge of the gripper pick from the leading edge of the first case in line on the infeed conveyor every time (even if I only pick one case)

I have my gripper configured to pick up to 6 cases. My unit dimensions are 387mm long by 156mm wide. My UL is set to only pick 5 cases for the 1st two picks (width-on-length). The 3rd pick is for only 2 cases coming in length-on-length. The last pick is for 6 cases coming in length-on-length.

What I'm seeing is that the center of the gripper (or wherever the TCP is defined) goes to what would be the center of 6 cases each time. This is really an issue for the 2 cases coming in length-on-length since 6 such cases would be 2322mm long (387mm * 6). That means the gripper is going 1161mm upstream to pick those 2 cases.

The last pick of 6 cases works out fine though.

How can I make the multi-case gripper pick at exactly the same spot regardless of how many cases are being picked?

Picking 6 cases width on length:

Picking 5 cases width on length:

Picking 2 cases length on length:

So, there is a real robot but I'm primarily interested in the simulation aspect at this point - I'm really just trying to get a handle on understanding how to set up and use PalletPro.

The real robot has PalletTool Turbo II (RTL-R871). The actual EOAT is a servo-controlled gripper, so no vacuum and cannot drop a single case while holding others.

Since I'm really just concerned with simulation at this point, anything goes:
- I can use any dimensions necessary for the EOAT
- space around the pallet is of no concern
- overhang is okay (but not preferred)
- flipped layers are not a concern at this point

I'm really just concerned with how to get the EOAT to always pick from the same point. Referring to the pictures above, I want the robot to pick from the same spot on the infeed conveyer every time (like in the first 2 pics), not offset as in the last pic.

As it is, the simulation works (as far as building my pallet) ... it just wouldn't work in the real world.

As a follow-up, I was able to create the UL and load it into the real robot. It works perfectly.

I just want to be able to simulate the same way the real robot works. My plan was to first get the movements right in the sim, then work on creating the EOAT in PalletPRO to match our real-world EOAT.

No, it's a new robot with default PalletPRO settings.

I was able to export the .VR file for the unit load I created in PalletPRO and import it into the real robot ... it works like a charm. I just can't get the simulated robot to act correctly - with the way it's acting now, there are situations where the simulated robot reaches axis limits.

This would not be an issue if I could get the robot to pick from exactly the same place every time.

No - that doesn't work. It won't run for some reason. When the simulation starts, the robot moves to the following position (J1 = 0, J2 = 0, J3 = 0, J4 = 180) which is what happens in real life. I do have to simulate a couple of robot inputs to get it to start, but then (in the sim) it jogs backwards (minus X in world mode) until it reaches an axis limit. This happens before any simulated cases even appear on the conveyor. Also, this happens while the "Synchronizing PalletTool Data" dialog is still showing.

In addition, it doesn't set the robot at the correct Z-value in relation to the infeed conveyor which is less of a problem - that can easily be rectified in PalletPRO for the sim.