Using PR's and Registers to create a Palletizing sequence

    Hello All,

    I am working on a palletizing program at the moment. Since the robot I am using did not come with PalletTool software I am using PR's and Registers to create the palletizing section of this program rather than teach every single placement.

    I plan to off set the X axis for each Row and the Z axis for each Layer. There are 4 different parts being used, so offset values will vary depending on part selected.

    I also need to put a cardboard layer down before I start the next row. I was thinking of creating a register for this using the selected part's Z offset value to determine carboard layer position.

    I am having trouble formulating the code needed for this operation. I'd appreciate any assistance on this subject. I am currently waiting on Fanuc for information for an advanced TPP class.

    Thanks!

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