hi
what i need to do is:
pick up a part from always the same place(conveyor end), then stack those parts straight upward(Z direction) on a pallet. stacks need to be about 80-100 parts high in about 15mm increments upward. i am new to robot programming so please give an example. thanks
help making simple palletizing program
-
jariuscs -
October 19, 2014 at 10:39 PM -
Thread is marked as Resolved.
-
-
Sorry I made a mistake
You can use position registers and numeric registers.
PR[11] and PR[12] and R[11] and R[12] for example
R[12] will be your height increase value and R[11] will be your layers high.
On a new pallet you move to PR[11]
then add R[12] to the Z value of PR[11] and move that to PR[12] then increase R[11] by 1.
For every layer after the first layer you add R[12] to the Z value of PR[12]
When a new pallet comes in, you need to clear out R[11] and start over.
Something like this
1: PR[12:Pallet-temp]=PR[11:Pallet-pos] ;
2: IF R[11:layer]=0,JMP LBL[1] ;
3: PR[12,3:Pallet-temp]=R[11:layer]*R[12:part-height] ;
4: PR[12,3:Pallet-temp]=PR[12,3:Pallet-temp]+PR[11,3:Pallet-pos] ;
5: LBL[1] ;
6:J PR[12:Pallet-temp] 100% FINE ;
7: R[11:layer]=R[11:layer]+1 ;
8: CALL INDEXPALLET -
i figured it out!
thanks a lot
-
so how would i now tell the program to stop once R[11] Layer is at 20 or whatever value
thanks
-
you do that in the index pallet program
digital output 12 will tell the PLC or whatever to index your pallet when R11 reaches 80.
You will probably need to move the robot to a safe location and then have it wait until a new pallet is in place before you start to place parts on it.
IF R[11:layer]<80,JMP LBL[1]
DO[12: INDEX-PALLET] PULSE .5 sec
LBL[1]
END -
Hi jariuscs,
Fanuc have in-built palletizing instructions. just enter position data's in instruction. -
Fanuc have in-built palletizing instructions. just enter position data's in instruction.
This is an option, and may be not activated in his robot. -
I have this option on my robot and I would like to learn how to use it. Unable to figure out how to use this option. Can someone guide me?