Question about Incremental coordinates

    Hello,


    I'm a student starting to get known with FANUC robots and Roboguide simulation program. Right now I'm using Roboguide handling tool trial without any additional add-ins.


    So I got the point how incremental coordinates work, but how to determine how much columns, rows and layers I have, or pallet tool is necessary to do this? Because it allows for me to determine the step of a cycle and that's all.


    Also how I could add a limit for an increment as it goes till the end of work zone, as it should go from P[1] to P[2] with increments of 100mm. Without defining all the points. Only those 2.


    Thank you for answers.

    HI Paulius


    Welcome to the robot forum


    Are you using P[] and not PR[]. ? I recommend to use PR for your application. You could use P[] but it's just more work


    how to determine how much columns, rows and lay.................................
    Use registers R[]
    You can do math operations with them , etc, etc


    R[3] saves you columns
    R[4] saves you rows
    etc, etc


    and you can increment R[3]=R[3]+1 or any number
    you can zero them R[3]=0



    how I could add a limit for an increment..........................................


    If you use PR[] at one point in your program you will have an increment similar to


    R[15]=100
    PR[57,3]=PR[]57,3]+R[1]
    R[15]=R[15]+100




    Just put a condition like


    IF R[15] <= 1300,JMP LBL[34]
    R[15]=0
    LBL[34]

    Retired but still helping

    The Handling Tool eDoc has a section on palletizing instructions, but I prefer the "roll your own" approach.
    eg. You can make each layer(Z) the same (by zeroing row and column), or change only one dimension at a time and go backward on alternating layers.

    Edited once, last by Iowan ().

    : UTOOL_NUM[GP1]=2 ;
    : UFRAME_NUM[GP1]=0 ;
    :J P[3: Initial point] 100% FINE ;
    :PR[1: Row]=LPOS;
    :PR[2: Column]=LPOS;
    :PR[3: Layer]=LPOS;
    :LBL[1];
    :J P[2] 100% FINE INC ;
    :J P[4] 100% FINE INC ;
    :J PR[1] 100% FINE ;
    :J P[1] 100% FINE INC ;
    :PR[1]=LPOS;
    :R[3]=R[3]+1;
    :IF R[3]=8,JMP LBL[2];
    :R[3]=0;
    :J PR[2] 100% FINE;
    :J P[5] 100% FINE INC;
    :PR[1]=LPOS;
    :PR[2]=LPOS;
    :R[4]=R[4]+1;
    :IF R[4]=4,JMP LBL[3];
    :R[4]=0;
    :J PR[3] 100% FINE;
    :J P[6] 100% FINE INC;
    :PR[1]=LPOS;
    :PR[2]=LPOS;
    :PR[3]=LPOS;
    :R[5]=R[5]+1;
    :IF R[5]=3,JMP LBL[4];
    :LBL[3];
    :LBL[2];
    :JMP LBL[1];
    :LBL[4];


    Have achvieved to write this kind of program, it works just fine, and I can adjust amount of products in a row, column, etc. easily. But faced another problem... When you put hand written INC function and point coordinates to a simulation program it says it can't reach it so I had manually delete and again insert INC function and define same point as previously. Is there any easier solution to this or it's like that no matter what?

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