Good night
Would anyone have an example of palletizing
Palletizing
- palletbrasil
- Thread is marked as Resolved.
-
-
Palletware, or roll-your-own?
-
-
PROC aTEST()
VAR num nRow_X;
VAR num nColumn_Y;
VAR num nLayer_Z;
VAR num nOffs_X;
VAR num nOffs_Y;
VAR num nOffs_Z;
PERS num nCount;VAR num nResult_X;
VAR num nResult_Y;
VAR num nResult_Z;VAR robtarget pMove;
PERS robtarget pOrigin := Create robtarget and record reference position please.
PERS robtarget pReady := Create robtarget and record for approach position.nRox_X := ((nCount -1) MOD 5) +1);
nColumn_Y := ((nCount -1) DIV 3);
nLayer_Z := nCount DIV 15;nOffs_X := 50;
nOffs_Y := 130;
nOffs_Z := 200;pMove := Offs(pOrigin, nResult_X, nResult_Y, nResult_Z);
WaitUntil Di01_Stack_Grant = 1;
Reset Do01_Stacker_Interference;MoveJ pReady, v2000, z50, tool0;
MoveL Offs(pMove, 0, 0, 300), v1000, z50, tool0;
MoveL Offs(pMove, 0, 0, 50), v500, z10, tool0;
MoveL pMove, v100, fine, tool0;
rGrip_Open;
MoveL Offs(pMove, 0, 0, 50), v100, z10, tool0;
MoveL Offs(pMove, 0, 0, 300), v1000, z50, tool0;MoveJ pReady, v2000, z50, tool0;
nCount := nCount + 1;IF nCount > 45 THEN
TPErase;
TPWrite " Stacker has Full-Stacked !";
TPWrite " Please Replace Bin !";
nCount := 0;
Stop;
EndIFEndPROC
... R-Y-O feel like this?
-
thank you
Create an account or sign in to comment
You need to be a member in order to leave a comment