A question ,someone would have some backup of some palletizing cell that works by assembling more than one mosaic on different pallets.
I have already done some palatization work, I developed mathematics but since I am working with the “FOR” instruction to index positions in a arrays at times I need to leave the instruction so that the robot can assemble another pallet ... I would like an example of a similar cell with that of the figure that is attached. If you have something I am grateful.
This and the code normally used
This code works well for an assembly of a pallet line only.
I left a picture attached,I wanted a help to make a code that works on two lines or more simultaneously.
FOR XCount = 1 TO 3
FOR YCount = 1 TO 3
FOR ZCount = 1 TO 4
;assuming that "StartPos" is programmed to the first position in the pallet pattern
NextPos[XCount, YCount, ZCount].X = StartPos.X + ((XCount - 1) * 100) ; set X value, shifted by pallet count
NextPos[XCount, YCount, ZCount].Y = StartPos.Y + ((YCount - 1) * 200) ; set Y value, shifted by pallet count
NextPos[XCount, YCount, ZCount].Z = StartPos.Z + ((ZCount - 1) * 300) ; set Z value, shifted by pallet count
NextPos[XCount, YCount, ZCount].A = StartPos.A ; set Rz to the same as the StartPoint
NextPos[XCount, YCount, ZCount].B = StartPos.B ; set Ryto the same as the StartPoint
NextPos[XCount, YCount, ZCount].C = StartPos.C ; set Rx to the same as the StartPoint
ENDFOR
ENDFOR
ENDFOR
Thanks