Hallo,everyone
I'm a new kawasaki robot learner ,I don't know how to programming the palletlizing pattern?
please help me!
thanks a lot!
palletilizing problem
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adeyan -
January 12, 2013 at 8:28 AM -
Thread is marked as Resolved.
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well, I guess you need to calculate each position regarding layer and workpiece number...
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Hello,
I know that my reply is toooooooooooooooooooooo late, but i don't want that this topic not to have an answer.
Here is my own solution:
cutie = 0
JMOVE intermediar
JAPPRO pick,100
SPEED 120 MM/S
LMOVE pick
TWAIT 0.3
SIGNAL 9,-10
TWAIT 0.3
LDEPART 100
JMOVE intermediar
IF level MOD 2==0 THEN
CASE cutie OF
VALUE 0:
POINT depunere = SHIFT(place BY 0,0,level*(h+10))
VALUE 1:
DECOMPOSE a[1] = place
POINT depunere = TRANS(a[1]-300,a[2]-40,a[3]+(h+10)*level,a[4]+90,a[5],a[6])
VALUE 2:
DECOMPOSE a[1] = place
POINT depunere = TRANS(a[1]-40,a[2]+300,a[3]+(h+10)*level,a[4]+90,a[5],a[6])
VALUE 3:
POINT depunere = SHIFT(place BY -350,240,level*(h+10))
ANY :
END
ELSE
CASE cutie OF
VALUE 0:
DECOMPOSE a[1] = place
POINT depunere = TRANS(a[1]-40,a[2]-40,a[3]+(h+10)*level,a[4]+90,a[5],a[6])
VALUE 1:
POINT depunere = SHIFT(place BY -350,0,level*(h+10))
VALUE 2:
POINT depunere = SHIFT(place BY 0,250,level*(h+10))
VALUE 3:
DECOMPOSE a[1] = place
POINT depunere = TRANS(a[1]-300,a[2]+300,a[3]+(h+10)*level,a[4]+90,a[5],a[6])
ANY :
END
END
JAPPRO depunere,80
SPEED 120 MM/S
LMOVE depunere
TWAIT 0.3
SIGNAL -9,10
TWAIT 0.3
LDEPART 100
JMOVE intermediar
IF cutie==3 THEN
cutie = 0
level = level+1
CALL carton
ELSE
cutie = cutie+1
ENDThis code was tested in K-ROSET 1.7.0 with RD080N.
I can share my project.
Thank you,
Alex!