I am trying to understand the logic of palletizing function and copied this sample code from a topic posted 3 years earlier.
My questions are:
1. What's the difference of P[1,1,1] and P[BTM] in the palletizing configuration section? I thought in the beginning, these two points should be the same when the palletizing was initially set up.
2. Does PAL_1[BTM] automatically loop through all the points of locations governed by ROW, COLUMN and LAYER? I did not see any loop function in the main body and wonder how all the points can be reached?
Thanks!
/PROG O1050
/ATTR
OWNER = MNEDITOR;
COMMENT = "PL[1]_Load1";
PROG_SIZE = 1792;
CREATE = DATE 14-10-27 TIME 18:30:28;
MODIFIED = DATE 16-09-02 TIME 15:06:02;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 27;
MEMORY_SIZE = 2212;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
Palletizing[1];
CONFIG:
PALLETIZING-B_1 "1" ;
TYPE = PALLET ;
INCR = 1 ;
PAL REG = 1 ;
ORDER = RCL ;
ROWS = [7] ;
COLUMNS = [5] ;
LAYERS = [1] ;
AUXILIARY POS = [NO ] ;
APPR = 1 ;
RTRT = 1 ;
BOTTOM:
P [1,1,1]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 769.761 mm, Y = -501.843 mm, Z = 83.783 mm,
W = -89.662 deg, P = 1.547 deg, R = -144.483 deg
};
P [7,1,1]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 512.812 mm, Y = -146.700 mm, Z = 83.590 mm,
W = -89.659 deg, P = 1.548 deg, R = -144.483 deg
};
P [1,5,1]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 555.883 mm, Y = -656.656 mm, Z = 83.620 mm,
W = -89.659 deg, P = 1.548 deg, R = -144.483 deg
};
ROUTE:
P [A_1]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 769.717 mm, Y = -501.841 mm, Z = 125.534 mm,
W = -89.659 deg, P = 1.548 deg, R = -144.483 deg
};
P [BTM]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 769.759 mm, Y = -501.840 mm, Z = 83.839 mm,
W = -89.659 deg, P = 1.548 deg, R = -144.483 deg
};
P [R_1]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 769.717 mm, Y = -501.841 mm, Z = 125.534 mm,
W = -89.659 deg, P = 1.548 deg, R = -144.483 deg
};
/APPL
/MN
1: !*******************************! ;
2: !-------------------------------! ;
3: !--------Drawer1 Loading--------! ;
4: !----------PL[1] TOP1-----------! ;
5: !-------------------------------! ;
6: !*******************************! ;
7: UFRAME_NUM=0 ;
8: UTOOL_NUM=1 ;
9:J P[1] 50% CNT50 ;
10: ;
11: LBL[200] ;
12: UFRAME_NUM=5 ;
13: UTOOL_NUM=1 ;
14: CALL O9992 ;
15: PALLETIZING-B_1 ;
16:L PAL_1[A_1] 1000mm/sec FINE ;
17:L PAL_1[BTM] 800mm/sec FINE Offset,PR[50] ;
18: CALL HAND1CLOSE(1) ;
19:L PAL_1[R_1] 1000mm/sec FINE ;
20: PALLETIZING-END_1 ;
21: R[15]=R[15]+1 ;
22: IF R[18]>=R[17],CALL O9999(40) ;
23: IF (F[10:OFF]),JMP LBL[200] ;
24: ;
25: UFRAME_NUM=0 ;
26: UTOOL_NUM=1 ;
27: END ;
/POS
P[1]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 1',
X = 262.411 mm, Y = -323.818 mm, Z = 222.908 mm,
W = -88.866 deg, P = -.408 deg, R = -144.084 deg
};
/END
