3.1.4. Example of micro offset program writing (Palletize Function + Shift Function)

3.1.4. Example of micro offset program writing (Palletize Function + Shift Function)

 

Users can control optionally the position data value created while using Palletize Function and then they can use it performing the existing shift function simultaneously to reflect the value of dX, dY, dZ.

 

 

               (a) Pattern Figure       (b) In case the heights per layers are not even

 

Figure 3.3 Pattern Figure & In case the heights per layers are not even

 

 

For example, when you loaded 5 layers as shown in Fig. 3.3 and would like to apply different amounts to shift for each layer, you must prepare a program.

 

V1%=_PALCNT1% 6           IF (V1%=1) THEN           R1=0.0,0.0,-10.0,0.00,0.00,0.00           ELSEIF (V1%=2) THEN           R1=0.0,0.0,-11.0,0.00,0.00,0.00           ELSEIF (V1%=3) THEN           R1=0.0,0.0,-12.0,0.00,0.00,0.00           ELSEIF (V1%=4) THEN           R1=0.0,0.0,-13.0,0.00,0.00,0.00           ELSEIF (V1%=5) THEN           R1=0.0,0.0,-14.0,0.00,0.00,0.00
	▶	Function jump by Palletize Count
	▶	Shift Amount Substitution (For each stage)
ENDIF
	▶	Terminate Function Jump
PAL P=1,PR=1,W=100.0,L=100.0,H=100.0           PALPU P=1,SL=1,SH=100.0       S1  MOVE P,S=100%,A=0,T=0,PK           workpiece Picking       S2  MOVE P,S=100%,A=0,T=0,PU           SONL ST=1,CRD=0,R=1,S3
	▶	Begin Online Shift Function
S3  MOVE P,S=100%,A=0,T=0,PS                  S4  MOVE P,S=100%,A=0,T=0,PS       S5  MOVE P,S=100%,A=0,T=0,PS       S6  MOVE P,S=100%,A=0,T=0,PS           F001: workpiece Place down       S7  MOVE P,S=100%,A=0,T=0,PS           SONL ST=1,CRD=0,R=1,S3
	▶	Terminate Online Shift Function
TIERST R=1,P=1,PR=1,TP=2
	▶	Call Tier-sheet Program and Online Shift register which is the same as M68.
S8 MOVE P,S=100%,A=0,T=0,PU          PALEND P=1,ES=0                  END
	▶	Terminate Palletize

 

※ Attention

 

l At the teaching program, _PALCNT (Palletize Count) should precede PAL (Palletize Shift) always.

 

l The same shift register number as the one used for the identical work should be used.

 

l Prior to TIERST (In-between paper insertion program), SONL (Online Shift Function) needs to be ended.

 

 

l PALCNT manages the palletizing counter for each work pattern. The use of the flow control door allows various applications. 

 

l As examples of various applications, the workpieces can be adjusted minutely, and the pallets can be inserted, and the workpieces can be stacked up in a pyramid shape or in a echelon format.