I'm writing a palletizing program using a dx controller. I'm totally new to motoman but have close to 20yrs with Fanuc, Nachi, ABB and Kuka. My question is can I define the 1st position on the pallet and calculate the remaining positons based on my pattern. I know with the other robots I can manipulate each component of the position, I'm not sure how to do this on a motoman. For example I want to use the same position just change the XYZ based on the product dimension.
Thanks in Advance.
Position variables
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ajones499 -
March 5, 2013 at 2:56 PM -
Thread is marked as Resolved.
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My advice is to make User Frame UF for pallet and use this user frame to calculate position variables and shifting.
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Ditto that. I like to calculate my positions based off a user frame. Not knowing Motoman instructions this can be difficult. Another way to do it is teach the first layer (or two if an interlock pattern) then use SFTON and SFTOF. SFTON uses a position variable for amount and direction.
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i will not agrre with the SFTON and SFTOF command. if you stop the robot and restart or power failure and then restart you will have collision as the shift is ignored. of course it is very easy but can cause you lots of trouble. either you must user frames or use position variable which you can modify its elements as you requested
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You should activate the Shift Cancellation feature that will keep the SHIFT active until the shift off instruction is executed. In case of a power failure, then proper programming practices should have the robot return home. At this point, the shift would be re-calculated and no collisions would occur.
As I always say, there are a million different ways to program a robot...
RoboGuru
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I normally use a UserFrame, and then a Receptfile for each different layer ( L25_1). If I use more than one pallet, I have a userframe for each, And then in the Call instruction, switch the userframe number....
I have added a very simple Palletizing routine, just for info I also program Fanuc.... The difference, is not very big.
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When you say more than one pallet do you mean ''pattern''?
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No, Often I have several Pallets, then I have a usercoordinate for each pallet, and then in the CALL instruction I can have the UF# command indicating which pallet I am palletizing on.... Then I don't have to have separate routines, for each pallet.
Normally I only have 2 patterns changing each other on a pallet. But If i'm palletizing sacks, It's sometimes useful to have four patterns, in order to have a "nice square" pallet.... Normally a Sack is thickere in one end, than in the other......