3.1.2. Step Teaching

To implement motion pattern as above, the program shows.

PAL P=1,PR=1,W=100.0,L=100.0,H=100.0
	▶	To begin Palletize Function, input Basic Parameter.
PALPU P=1,SL=1,SH=100.0
	▶	Input Picking-Up (PU) Ascent Shift Amount.
S1 MOVE L,S=100%,A=0,H=0,PK
	▶	This is the step picking an workpiece (Picking, PK).
‘Workpiece Chucking
	▶	This is picking up an workpiece.
S2 MOVE L,S=100%,A=3,H=0,PU
	▶	This is the step picking up an workpiece. Picking up (PU) compared to layer height to load.
S3 MOVE P,S=100%,A=3,H=0,PS
	▶	This is the step (PS) rotating S axis to pallet position to unload an workpiece.
S4 MOVE P,S=100%,A=3,H=0,PS
	▶	This is the approach step to unload an workpiece safely.
S5 MOVE P,S=100%,A=0,H=0,PS
	▶	This is the position of half height of workpiece from the position to unload the workpiece. This is also the approach step.
S6 MOVE L,S=100%,A=3,H=0,PS
	▶	Unload an workpiece on pallet.
‘Workpiece Unchucking
	▶	This is unloading an workpiece.
S7 MOVE L,S=100%,A=3,H=0,PS
	▶	This is the ascent step avoiding the interruption of other workpieces after unloading an workpiece.
TIERST R=1,P=1,PR=1,TP=2
	▶	If there is an tier-sheet, apply Tier-sheet Insertion Program Call Function.
S2 MOVE P,S=100%,A=3,H=0,PU
	▶	This is the waiting step to pick up an workpiece, maintain the layer height and rotate S axis.
PALEND P=1,ES=0
	▶	Terminate Palletize Function.
END
	▶	Close program.