Palletizing program Fanuc

    Hey I'm going to be programming an r2000 and using it for palletizing. The End Effector isn't even made yet but I need to get a jump ahead on the programming regardless and I need a place to start. The application will be simple but I've only had small experience with an LR mate.

    I basically have to implement this program for several other pallets and rows with each corresponding with each other. Like row 1 =pallet 1. Just because we run different product. Anyways I'm a little rugged and only have taught coordinates before then ran the a single program instead of using math to coordinate positions. If anyone would want to give pointers like I'd believe I need [r] [pr] and For Loops. Problem is I think my software is too old for For loops so an alternative would be nice too! Thanks for your time

  • Fubini January 31, 2025 at 5:37 AM

    Approved the thread.

    I'm assuming that you are not using PalletTool and are just using basic HandlingTool.

    You could teach User Frames for each of your pallet locations and Position Registers for each place position on the first layer. Each pallet should have a count Register for the current unit on layer and current layer(starting at 0 for the first layer). Each layer would have an offset applied to it based off the height of the units multiplied by the current layer count. You could do this a handful of ways with an offset condition, an offset PR applied to each point, or a buffer PR that you add the offset directly to and overwrite each time.

    If you have different layer patterns you may need to make another set of PRs for place positions and select those PRs based on the layer count. You would still teach those positions on the first layer though.

    1. Calculate Row_X, Column_Y, Layer_Z by Register value

    2. Define Depth_X, Width_Y, Height_Z

    3. Assign PR[10,1] = Row_X * Depth_X

    4. Assign PR[10,2] = Column_Y * Width_Y

    5. Assignl PR[10,3] = Layer_Z * Height_Z

    5. Add parameter with Offset or Tool_Offset wity PR[10]

    Or

    PALLETIZING-EX function. (If software installed)

    ABB, FANUC, Hyundai, Kawasaki

    Edited once, last by saberlars (February 7, 2025 at 6:38 AM).

    For palletizing ,first you must make sure that how many stack types you have. Sometimes the stack shape is complicated(even if you use the PalletTool ), you have to write a code by yourself.

    But if your cost is enough,you can use iRVision for palletizing ,most of situation can be solved.

    Nice day~!

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