1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. Yaskawa Motoman Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

YRC 1000 - H20DT - Palletizing Help

  • Maxx Dull
  • August 11, 2021 at 4:08 PM
  • Thread is Resolved
  • Maxx Dull
    Trophies
    2
    Posts
    5
    • August 11, 2021 at 4:08 PM
    • #1

    Hello,

    I am looking for help on palletizing .

    Currently, I have 50 objects to stack. I can do layers of 10.

    I can stack them now, but was looking for a more efficient way to do it.

    Is there a way to create an origin point, (X,1,y1,z1) and then each layer just add a set +z value to add another layer, and just loop that. that way I don't have to create a new point or origin point for each layer.

  • 95devils
    Reactions Received
    230
    Trophies
    8
    Posts
    1,934
    • August 11, 2021 at 4:39 PM
    • #2
    Quote from Maxx Dull

    Is there a way to create an origin point, (X,1,y1,z1) and then each layer just add a set +z value to add another layer, and just loop that. that way I don't have to create a new point or origin point for each layer.

    Sure, you can use a Position Variable and Shift on the amount and direction. Before your moves that you want to shift add a line that reads SFTON Pxxx. The Pxxx is a variable that has an address. Use an address that is not being used by the system, such as P050. When you want to move to a non-shifted position add the SFTOF.

    MOVJ

    MOVJ

    SFTON P050

    MOVL

    MOVL

    'end effector

    MOVL

    SFTOF

    After the layer is done you could add Pxxx Pxxx. The second position variable has the amount in the Z-element that is the height of the object.

    ADD P050 P051 P051 has a Z-value of the object height.


    Another way is to have a layer counter instead of the ADD. After a layer is completed INC the layer counter and multiply.

    INC I000

    SET D050 (I000-1)*Object height

    SETE P050 (3) D050

    After the pallet is complete re-zero the shift amount with SUB P050 P050.

    You could also program all the positions calculated out.

    The wonderful world of programming, 10,000 ways to do the same thing.


    All address are for example only. You would need to use something that is not being used already.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

  • Maxx Dull
    Trophies
    2
    Posts
    5
    • August 11, 2021 at 5:10 PM
    • #3

    Awesome, thanks. Definitely multiple ways of doing different things.

    Do you have any ideas on how to start from the middle of a layer?

    Like, if I was palletizing 10 parts per layer, and got to the 3rd layer on part 5, and stopped the program for some reason. How could I cycle the robot to start from the 3rd layer part 6?

  • 95devils
    Reactions Received
    230
    Trophies
    8
    Posts
    1,934
    • August 11, 2021 at 5:49 PM
    • #4

    What I do is have a label for a position on the layer.

    JUMP *1 IF B010=1

    JUMP *2 IF B010=2

    PAUSE

    'Invalid position.

    JUMP *OUT

    *1

    SFTON P050

    'approach point

    MOVJ C00002 VJ=50.00

    'drop point

    MOVL C00003 V=400.0 PL=0

    CALL JOB:OPENGRIP

    TIMER T=0.50

    'approach point

    MOVL C00004 V=1600.0

    'increment part counter

    INC B010

    JUMP *PLACED

    *2

    SFTON P050

    'approach point

    MOVJ C00005 VJ=50.00

    'drop point

    MOVL C00006 V=400.0 PL=0

    CALL JOB:OPENGRIP

    TIMER T=0.50

    'approach point

    MOVL C00007 V=1600.0

    'increment part counter

    INC B010

    JUMP *PLACED


    *PLACED

    SFTOF

    Off of this I can start anywhere on the pallet with a layer counter and position on layer counter.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

  • ljuba
    Reactions Received
    33
    Trophies
    5
    Posts
    281
    • August 11, 2021 at 10:29 PM
    • #5

    well I think that the best way to do the palletizing is calculating the position.

    You can have a macro that would do the math, according the arguments used to call the macro.

    Like, call macro arg1 layer, arg2 part count

    With that you calculate the position. No mess with jumping up and down.

  • TSGIR
    Reactions Received
    81
    Trophies
    6
    Posts
    713
    • August 11, 2021 at 10:45 PM
    • #6

    The other way is use Pallet Solver software, it calculate all of positions by software and give to the robot but it is expensive solution.

  • ljuba
    Reactions Received
    33
    Trophies
    5
    Posts
    281
    • August 12, 2021 at 12:11 AM
    • #7
    Quote from TSGIR

    The other way is use Pallet Solver software, it calculate all of positions by software and give to the robot but it is expensive solution.

    Pretty expensive solution!!! 🤣😂🤣😂🤣😂

  • 95devils
    Reactions Received
    230
    Trophies
    8
    Posts
    1,934
    • August 12, 2021 at 1:14 AM
    • #8
    Quote from ljuba

    well I think that the best way to do the palletizing is calculating the position.

    Agreed. The questions led me to believe the OP doesn’t have a lot of experience. Learn the basics then move to more complex programming.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

  • ljuba
    Reactions Received
    33
    Trophies
    5
    Posts
    281
    • August 12, 2021 at 1:27 AM
    • #9
    Quote from 95devils

    Agreed. The questions led me to believe the OP doesn’t have a lot of experience. Learn the basics then move to more complex programming.

    a think that there is even a thread here, talking about paletizing, and mentioned 3 or 4 different ways to do so.

  • Maxx Dull
    Trophies
    2
    Posts
    5
    • August 23, 2021 at 4:15 PM
    • #10

    Thanks everyone for the help. Think I've come to a solution

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Tags

  • palletizing
  • Palletizing Function
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download