Palletizing

[James]

I was reading the AS language manual today, specifically, the sample palletizing program and was wondering:
How would i add a vertical stack to the program?

Code:

.Program palletize()
1;Initial settings (3 rows, 4 columns, X shift = 90 mm, Y shift = 100 mm,
;SPEED 100%, ACCURACY 100 mm)
2row.max = 3
3col.max = 4
4xs = 90
5ys = 100
6SPEED 100 ALWAYS
7ACCURACY 100 ALWAYS
8OPENI
9;Start palletizing
10FOR row = 1 TO row.max
11FOR col = 1 TO col.max
12JAPPRO #a,100;Steps 12 through 17 pick up the part from the parts feeder.
13SPEED 30
14ACCURACY 1
15LMOVE #a
16CLOSI
17LDEPART 200
18;
19JAPPRO put, 200;Steps 19 through 24 place the part on the pallet.
20SPEED 30
21ACCURACY 1
22LMOVE put
23OPENI
24LDEPART 200
25;
26;Calculate the pose for the part in the next row.
27POINT put = SHIFT(put BY xs, 0, 0)
28END
29;
30;Calculate the pose for the part in the next column.
31POINT put = SHIFT(start BY 0, ys*row, 0)
32END
.END

Also, when it does the column shift on step 31, why is the 'y' shift value multiplied by the value called 'row'?

[selquist]

It is multiplied because it uses the position "start" as a basis every time it shifts row. Not the "put"-position. Se the figure on page "6-54" in the language reference manual.
To make a new layer, you can put everything in a IF THEN ELSE, adding 100mm to the z-value

example

IF layer==0 then
;Calculate the pose for the part in the next row.
POINT put = SHIFT(put BY xs, 0, 0)
END
;
;Calculate the pose for the part in the next column.
POINT put = SHIFT(start BY 0, ys*row, 0)
END
END

IF layer==1 THEN
;Calculate the pose for the part in the next row.
POINT put = SHIFT(put BY xs, 0, 100)
END
;
;Calculate the pose for the part in the next column.
POINT put = SHIFT(start BY 0, ys*row, 100)
END
END

[James]

OK, but just say I wanted to make use of a FOR loop in the program for consistency's sake, would it look something like the following?
My additions don't have step numbers.

.Program palletize()
1;Initial settings (3 rows, 4 columns, X shift = 90 mm, Y shift = 100 mm,
;SPEED 100%, ACCURACY 100 mm)
2row.max = 3
3col.max = 4
 stack.max=3
4xs = 90
5ys = 100
 zs = 100
6SPEED 100 ALWAYS
7ACCURACY 100 ALWAYS
8OPENI
9;Start palletizing
  FOR stack = 1 TO stack.max
10FOR row = 1 TO row.max
11FOR col = 1 TO col.max
12JAPPRO #a,100;Steps 12 through 17 pick up the part from the parts feeder.
13SPEED 30
14ACCURACY 1
15LMOVE #a
16CLOSI
17LDEPART 200
18;
19JAPPRO put, 200;Steps 19 through 24 place the part on the pallet.
20SPEED 30
21ACCURACY 1
22LMOVE put
23OPENI
24LDEPART 200
25;
26;Calculate the pose for the part in the next row.
27POINT put = SHIFT(put BY xs, 0, 0)
28END
29;
30;Calculate the pose for the part in the next column.
31POINT put = SHIFT(start BY 0, ys*row, 0)
32END
  ;calculate the pose for the part in the next stack.
  POINT put = SHIFT(start BY 0, 0, zs)
  END
.END

The reason I'm asking is that I might be starting a new job soon and they might want me to do this for them, rather than paying a programmer to come out and do it. 

Also, thanks very much for helping. 

[Antxoka]

The example of the manual is not for palletizing.

It's not the best way to do this job.

Anyway, if you need help, contact me.