FANUC ROBOTS - Palletizing Function using User Frames?

Gabriel Cinti · July 19, 2021 at 8:05 PM

Hello there!

I want to make a program in which I use the Palletizing Function for FANUC ROBOTS but assigned to a specific User Frame. I know it is possible to use Position registers and then it'll be easy to change the pallet's placing with a user frame, but I want to know if it's possible to specifically use the Palletizing Function for doing so.

GallusRoboticus · July 23, 2021 at 3:16 PM

Yes, this is definitely possible and exactly how we are using this option. The palletizing points work pretty much the same as any point with all the usual motion options.

Gabriel Cinti · July 27, 2021 at 3:22 PM

Could you elaborate on how to do it? It looks like it's always getting the reference from the User Frame 0 rather than an UF set by me. And even changing the UF in the exact same program I made using the palletizing function doesnt change anything. Example: I have two pallets that have the exact same format and size, one set to UF1 and another to UF2, if I use UF1 to set up my first pallet, then set the exact same program to use UF2, it'll still go to the touchups I did in the first pallet, not the second one as I'd want it to.

GallusRoboticus · July 27, 2021 at 5:50 PM

I'm sorry, I misunderstood your question. You are right that the palletizing command always stores the points in world coordinates. I don't believe there is any way to simply change the user frame to move the pallet points. You would need to use a PR to store the offset between the two pallets/user frames. Something like this:

Code

J P[1] 100% FINE    ;
  IF (F[28:STACK ON C2]) THEN ;
  OFFSET CONDITION PR[31:OFFSET] ;
  ELSE ;
  OFFSET CONDITION PR[100:Zero] ;
  ENDIF ;
  PALLETIZING-B_1 ;
J PAL_1[A_1] 30% CNT100 Offset    ;
L PAL_1[BTM] 500mm/sec FINE Offset    ;
L PAL_1[R_1] 900mm/sec CNT100 Offset    ;
  PALLETIZING-END_1 ;
J P[1] 100% FINE    ;

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Gabriel Cinti · July 28, 2021 at 12:58 PM

Oh I see, thank you nonetheless! I ended up making up a program in which I can determine how many pieces there are in the 3 axys (X Y Z) for the pallet and that you can determine the distance between pieces on all 3 axys as well. In any case I'll be attaching its code here. In this case you'd need to save PR2 as the first point of your pallet, and if its a linear pallet, it should work just fine.

Code:

1: UFRAME_NUM=3 ;

2: UTOOL_NUM=1 ;

3: ;

4: ;

5: PR[1]=LPOS ;

6: PR[1]=PR[1]-PR[1] ;

7: IF (R[1]=3),R[2]=(R[2]+1) ;

8: IF (R[2]=3),R[3]=(R[3]+1) ;

9: IF (R[1]=3),R[1]=(0) ;

10: IF (R[2]=3),R[2]=(0) ;

11: IF (R[3]=3),R[3]=(0) ;

12: R[4]=R[1]*R[7] ;

13: PR[1,1]=PR[1,1]+R[4] ;

14: R[5]=R[2]*R[8] ;

15: PR[1,2]=PR[1,2]+R[5] ;

16: R[6]=R[3]*R[9] ;

17: PR[1,3]=PR[1,3]+R[6] ;

18: PR[1,3]=PR[1,3]+55 ;

19: ;

20: ;

21:J PR[1] 100% FINE Offset,PR[2] ;

22: PR[1,3]=PR[1,3]-55 ;

23:J PR[1] 100% FINE Offset,PR[2] ;

24: CALL OPEN_GRIPPER ;

25: PR[1,3]=PR[1,3]+55 ;

26:J PR[1] 100% FINE Offset,PR[2] ;

27: R[1]=R[1]+1 ;

FANUC ROBOTS - Palletizing Function using User Frames?

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