Hello All,
i have recently created a palletizing program with the help for PR and Registers. i have attached the program copy for your reference hope you may need this.
Application program.
1: CALL PALLET_START ;
2:J PR[12:PICK] 10% FINE Offset,PR[13:PICK Z OFFSET] ;
3:J PR[12:PICK] 10% FINE ;
4: CALL GRIP ;
5:J PR[12:PICK] 10% FINE Offset,PR[13:PICK Z OFFSET] ;
6: CALL PALLET_END ;
Pallet start program
1: UFRAME_NUM=0 ;
2: UTOOL_NUM=1 ;
3: PR[5:PR[2]-PR[1]]=PR[2:LastROW 1Col 1LY]-PR[1:1ROW 1COL 1LAY] ;
4: PR[6:PR[3]-PR[1]]=PR[3:1ROW LasCol 1LY]-PR[1:1ROW 1COL 1LAY] ;
5: PR[7:PR[4]-PR[1]]=PR[4:1Row 1Col TopLY]-PR[1:1ROW 1COL 1LAY] ;
6: ;
7: R[20:2-1,X]=(PR[5,1:PR[2]-PR[1]]) ;
8: R[21:2-1,Y]=(PR[5,2:PR[2]-PR[1]]) ;
9: R[22:3-1,X]=(PR[6,1:PR[3]-PR[1]]) ;
10: R[23:3-1,Y]=(PR[6,2:PR[3]-PR[1]]) ;
11: R[24:Z DIFF]=PR[7,3:PR[4]-PR[1]] ;
12: ;
13: IF (R[1:ROWS]=1 AND R[2:COLUMS]=1 AND R[3:LAYER]=1),JMP LBL[100] ;
14: ;
15: IF R[1:ROWS]>1,JMP LBL[25] ;
16: IF (R[1:ROWS]=1),R[25:X PITCH IN ROW]=(R[20:2-1,X]) ;
17: IF (R[1:ROWS]=1),R[26:Y PITCH IN ROW]=(R[21:2-1,Y]) ;
18: ;
19: JMP LBL[26] ;
20: LBL[25] ;
21: R[25:X PITCH IN ROW]=((R[20:2-1,X])/(R[1:ROWS]-1)) ;
22: R[26:Y PITCH IN ROW]=((R[21:2-1,Y])/(R[1:ROWS]-1)) ;
23: ;
24: LBL[26] ;
25: IF R[2:COLUMS]>1,JMP LBL[27] ;
26: IF (R[2:COLUMS]=1),R[27:X PITCH IN COL]=(R[22:3-1,X]) ;
27: IF (R[1:ROWS]=1),R[28:Y PITCH IN COL]=(R[23:3-1,Y]) ;
28: ;
29: JMP LBL[28] ;
30: LBL[27] ;
31: ;
32: ;
33: R[27:X PITCH IN COL]=((R[22:3-1,X])/(R[2:COLUMS]-1)) ;
34: R[28:Y PITCH IN COL]=((R[23:3-1,Y])/(R[2:COLUMS]-1)) ;
35: ;
36: ;
37: LBL[28] ;
38: IF R[3:LAYER]>1,JMP LBL[30] ;
39: ;
40: IF (R[3:LAYER]=1),R[29:Z PITCH]=(0) ;
41: ;
42: JMP LBL[29] ;
43: LBL[30] ;
44: R[29:Z PITCH]=((R[24:Z DIFF])/(R[3:LAYER]-1)) ;
45: LBL[29] ;
46: ;
47: LBL[100] ;
48: PR[12:PICK]=PR[1:1ROW 1COL 1LAY] ;
49: IF (R[1:ROWS]=1 AND R[2:COLUMS]=1 AND R[3:LAYER]=1),JMP LBL[3] ;
50: PR[8,1:ROW PITCH]=R[25:X PITCH IN ROW] ;
51: PR[8,2:ROW PITCH]=R[26:Y PITCH IN ROW] ;
52: PR[9,1:COL PITCH]=R[27:X PITCH IN COL] ;
53: PR[9,2:COL PITCH]=R[28:Y PITCH IN COL] ;
54: PR[10,3:LAYER PITCH]=R[29:Z PITCH] ;
55: ;
56: ;
57: PR[8,1:ROW PITCH]=((PR[8,1:ROW PITCH])*(R[10:CURR ROW]-1)) ;
58: PR[8,2:ROW PITCH]=((PR[8,2:ROW PITCH])*(R[10:CURR ROW]-1)) ;
59: PR[9,1:COL PITCH]=((PR[9,1:COL PITCH])*(R[11:CURR COL]-1)) ;
60: PR[9,2:COL PITCH]=((PR[9,2:COL PITCH])*(R[11:CURR COL]-1)) ;
61: PR[10,3:LAYER PITCH]=((PR[10,3:LAYER PITCH])*(R[12:CURR LAY]-1)) ;
62: ;
63: PR[11:TOTAL OFFSET]=PR[8:ROW PITCH]+PR[9:COL PITCH]+PR[10:LAYER PITCH] ;
64: PR[12:PICK]=PR[12:PICK]+PR[11:TOTAL OFFSET] ;
pallet end program
1: ;
2: R[10:CURR ROW]=R[10:CURR ROW]+1 ;
3: IF R[10:CURR ROW]>R[1:ROWS],JMP LBL[1] ;
4: JMP LBL[110] ;
5: LBL[1] ;
6: R[10:CURR ROW]=1 ;
7: R[11:CURR COL]=R[11:CURR COL]+1 ;
8: IF R[11:CURR COL]>R[2:COLUMS],JMP LBL[101] ;
9: JMP LBL[110] ;
10: LBL[101] ;
11: R[10:CURR ROW]=1 ;
12: R[11:CURR COL]=1 ;
13: IF (R[99:0=PAL 1=DEPAL]=0),R[12:CURR LAY]=(R[12:CURR LAY]+1) ;
14: IF (R[99:0=PAL 1=DEPAL]=1),R[12:CURR LAY]=(R[12:CURR LAY]-1) ;
15: IF (R[99:0=PAL 1=DEPAL]=0),JMP LBL[80] ;
16: IF (R[99:0=PAL 1=DEPAL]=1),JMP LBL[81] ;
17: ;
18: LBL[80] ;
19: IF R[12:CURR LAY]>R[3:LAYER],JMP LBL[99] ;
20: JMP LBL[110] ;
21: LBL[81] ;
22: IF R[12:CURR LAY]<=0,JMP LBL[99] ;
23: ;
24: ;
25: ;
26: JMP LBL[110] ;
27: LBL[99] ;
28: R[10:CURR ROW]=1 ;
29: R[11:CURR COL]=1 ;
30: IF (R[99:0=PAL 1=DEPAL]=0),R[12:CURR LAY]=(1) ;
31: IF (R[99:0=PAL 1=DEPAL]=1),R[12:CURR LAY]=(R[3:LAYER]) ;
32: LBL[110] ;
Pallet VAR program
1: LBL[10] ;
2: R[1:ROWS]=3 ;
3: R[2:COLUMS]=4 ;
4: R[3:LAYER]=2 ;
5: R[99:0=PAL 1=DEPAL]=1 ;
6: IF R[1:ROWS]<1,JMP LBL[1] ;
7: IF R[2:COLUMS]<1,JMP LBL[2] ;
8: IF R[3:LAYER]<1,JMP LBL[3] ;
9: ;
10: JMP LBL[99] ;
11: LBL[1] ;
12: UALM[1] ;
13: JMP LBL[10] ;
14: LBL[2] ;
15: UALM[2] ;
16: JMP LBL[10] ;
17: LBL[3] ;
18: UALM[3] ;
19: JMP LBL[10] ;
20: LBL[99] ;
21: R[10:CURR ROW]=1 ;
22: R[11:CURR COL]=1 ;
23: IF (R[99:0=PAL 1=DEPAL]=0),R[12:CURR LAY]=(1) ;
24: IF (R[99:0=PAL 1=DEPAL]=1),R[12:CURR LAY]=(R[3:LAYER]) ;
Pallet Init program
1: R[1:ROWS]=0 ;
2: R[2:COLUMS]=0 ;
3: R[3:LAYER]=0 ;
4: R[10:CURR ROW]=0 ;
5: R[11:CURR COL]=0 ;
6: R[12:CURR LAY]=0 ;
7: R[20:2-1,X]=0 ;
8: R[21:2-1,Y]=0 ;
9: R[22:3-1,X]=0 ;
10: R[23:3-1,Y]=0 ;
11: R[24:Z DIFF]=0 ;
12: R[25:X PITCH IN ROW]=0 ;
13: R[26:Y PITCH IN ROW]=0 ;
14: R[27:X PITCH IN COL]=0 ;
15: R[28:Y PITCH IN COL]=0 ;
16: R[29:Z PITCH]=0 ;
17: PR[99,1]=0 ;
18: PR[99,2]=0 ;
19: PR[99,3]=0 ;
20: PR[99,4]=0 ;
21: PR[99,5]=0 ;
22: PR[99,6]=0 ;
23: PR[5:PR[2]-PR[1]]=PR[99] ;
24: PR[6:PR[3]-PR[1]]=PR[99] ;
25: PR[7:PR[4]-PR[1]]=PR[99] ;
26: PR[8:ROW PITCH]=PR[99] ;
27: PR[9:COL PITCH]=PR[99] ;
28: PR[10:LAYER PITCH]=PR[99] ;
29: PR[11:TOTAL OFFSET]=PR[99] ;
30: PR[12:PICK]=PR[99] ;
31: PR[13:PICK Z OFFSET]=PR[99] ;
Vipin
