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.
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.
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.
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.
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!!! 🤣😂🤣😂🤣😂
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.
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.
