Salve a tutti,
potreste indicarmi qualche esempio di scrittura di programma per pallettizzare sia su un piano che su piu' piani grazie.
Esempi di programma di pallettizzazione
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Osurac80 -
March 28, 2019 at 5:13 AM -
Thread is marked as Resolved.
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Hi,
Codes as follows,
MODULE palet
VAR num x_offset;
VAR num y_offset;
VAR num z_offset;
pers robtarget starting_point := [[13.05,-440.88,135.17],[0.0480209,-0.187651,-0.948937,-0.248998],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC pallet()
x_offset := x_offset + 10; ! your pitch distance. here for example i took 10
movel Offs ( starting_point,x_offset,0,0),v1000,fine,tool0; ! offset towards x
y_offset := y_offset + 10;
movel Offs ( starting_point,0,y_offset,0),v1000,fine,tool0; ! offset towards y
z_offset := z_offset + 10 ;
movel Offs ( starting_point,0,0,z_offset),v1000,fine,tool0; ! offset towards z
!!reset and run from the starting point
x_offset :=0;
y_offset :=0;
z_offset :=0;! use "FOR " or "WHILE" or "IF ELSE " to define your logic for rows, coloums and layers
ENDPROC
ENDMODULEspero che questo possa essere d'aiuto
Robot-Freak