Hi guys,
Is there some kind of standard or template in creating a palletizing rapid program?
would you mind to share..
Thanks in advance.
BR,
Winter
Hi guys,
Is there some kind of standard or template in creating a palletizing rapid program?
would you mind to share..
Thanks in advance.
BR,
Winter
I've never used it, but ABB has PalletWare.
Hi.
There is no standard in creating a palletizing programs.
I use Offset or workobject displacement.
Here is an example using Offset..
MoveL Offs(pLmnUtpall,nCurPartOnLayer*nPartOffsetX+5,0,nCurLayer*nPartOffsetZ+70), v3000, z5, tTempTool\WObj:=obUtpall;
MoveL Offs(pLmnUtpall,nCurPartOnLayer*nPartOffsetX,0,nCurLayer*nPartOffsetZ), v500, fine, tTempTool\WObj:=obUtpall;
IF bRegrip Grip1\Off;
IF NOT bRegrip Grip2\Off;
WaitTime 0.2;
MoveL Offs(pLmnUtpall,nCurPartOnLayer*nPartOffsetX,0,nCurLayer*nPartOffsetZ+10),v2000,z5,tTempTool\WObj:=obUtpall;
Incr nCurPartOnLayer;
nCount := 0;
pStack := pWork_Origin;
nOffs_X := 200;
nOffs_Y := 50;
nOffs_Z := 300;
nRow_X := Abs(nCount DIV 3)
nCol_Y := Abs(nCount MOD 3)
nLay_Z := Abs(nCount DIV 6)
pStack := Offs(pStack, nOffs_X * nOffs_Y, nOffs_Y * nCol_Y, nOffs_Z * nLay_Z);
MoveJ Offs(pStack, 0, 0, 300), v1500, z50, tool0;
MoveL Offs(pStack, 0, 0, 50), v500, z10, tool0;
MoveL pStack, v300, fine, tool0;
rGrip_Open;
nCount := nCount + 1;
MoveL Offs(pStack, 0, 0, 50), v500, z10, tool0;
MoveL Offs(pStack, 0, 0, 300), v1500, z50, tool0;