May 26, 2019, 10:18:53 AM

# Simple Stacking Programme

### Author Topic:  Simple Stacking Programme  (Read 261 times)

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May 17, 2019, 11:51:26 AM

#### tobyhansford@wbb

##### Simple Stacking Programme
Hello,

I am very new to robot programming, I am trying to create a simple stacking programme using a Fanuc m-16i . I would like 5 positions at 50mm high, I am thinking that I will need to use PR for this and the LPOS to record the height, but I am a little unsure how to write the programme for this?

Today at 10:18:53 AM

Guest
##### Re:  Simple Stacking Programme

May 17, 2019, 12:43:52 PM

#### Nation

Global Moderator
##### Re: Simple Stacking Programme
While there are several ways to accomplish this, I would use the OFFSET command.

Code: [Select]
:  !Set PR100 as LPOS, in case someone stored it as Joint ;
:  !PR[100] was picked arbitrarily. You can use whatever free PR you want.
:  PR[100]=LPOS ;
:  PR[100,1] = 0 ; !X offset
:  PR[100,2] = 0 ; !Y offset
:  PR[100,3] = R[10:Stack Height]*50 ; !Z offset, which is your stack height*50mm. Fist part should have a stack height of 0.
:  PR[100,4] = 0 ; !Rx offset
:  PR[100,5] = 0 ; !Ry offset
:  PR[100,6] = 0 ; !Rz offset
:  ;
:  !Move above ;
: L P[1:Above] 500mm/s CNT25 ;
: L P[2:Drop] 250mm/s FINE OFFSET, PR[100] ;
: CALL OPEN_GRIPPER ;
:  ;
: R[10:Stack Height]=R[10:Stack Height]+1;
: IF R[10:Stack Height]=5 THEN ;
: !Tell PLC to release pallet ;
: DO[100:Pallet Done]=PULSE, 1 sec;
: R[10:Stack Height]=0;
: ENDIF ;
:  ;
:  !Move above ;
: L P[1:Above] 500mm/s CNT25 ;
Check out the position converter I wrote here!

May 18, 2019, 05:50:36 AM

#### tobyhansford@wbb

##### Re: Simple Stacking Programme
Thank you. That worked perfectly.

May 20, 2019, 04:57:02 PM

#### alive15

##### Re: Simple Stacking Programme
If I understand correctly, you used the offset command to move the robot without teaching it an actual position? I didn't know that was possible. Can you do that on R30iA or R30iB? Also, what is the recommended coordinate system to use?

Thanks

May 20, 2019, 07:04:39 PM

#### Nation

Global Moderator
##### Re: Simple Stacking Programme
I think the offset command has been around since the early days. Yep, you can do that on the latest gen controllers.

Offset works in your current user frame, whatever that is set to.

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