3.1.3. Tier-sheet Program Writing

TIERST R=1,P=1,PR=1,TP=2

When inserting an tier-sheet, add this part to above teaching program. If there is an tier-sheet insertion, call the tier-sheet insertion program.

S1 MOVE P,S=100%,A=0,H=0	▶	Move to the tier-sheet approach the position.
S2 MOVE L,S=100%,A=0,H=0 DELAY 0.5 (Pick up the tier-sheet.)	▶	Pick up the tier-sheet.
SONL ST=1,CRD=0,R=1,S3 S3 MOVE L,S=100%,A=0,H=0	▶	Lift up picking up the tier-sheet.
S4 MOVE P,S=100%,A=0,H=0	▶	Move to the position of the layer to unload the tier-sheet.
S5 MOVE L,S=100%,A=0,H=0 DELAY 0.5 (Unload the tier-sheet)	▶	Unload the tier-sheet.
S6 MOVE L,S=100%,A=0,H=0	▶	Avoid the position unloading the interleaving paper.
SONL ST=0,CRD=0,R=1,S3 END	▶	Close tier-sheet insertion program and return to main program.

Figure 3.2 Palletize Motion Pattern Path when inserting the tier-sheet

l Above Teaching Program shows the example of Operation Program Configuration when doing 『Palletize Operation』containing『Tier-sheet』

l For the shift amount of tier-sheet insertion program, see the value inputted on Palletize Pattern Register.