10.4.6.1. PAL

10.4.6.1. PAL

 

The PAL statement makes the shift amount for the palletize work based on the values stored in the palletize pattern register.

 

Explanation	Palletize (Data input)
Grammar	PAL P=<pallet num.>,PR=<pattern register num.>,W=<work width>,L=<work length >,H=<work height>
Parameter	Pallet num.	Pallet entry number	1~16
	Pattern register num.	Palletize pattern register number	1~16
	Work width(W)	Width of workpiece X(mm)	0.1~3000.0
	Work length(L)	Length of workpiece Y(mm)	0.1~3000.0
	Work height(H)	Height of workpiece Z(mm)	0.1~3000.0
Example	PAL P=1,PR=1,W=500,L=300,H=250.5

 

 

 

l To use this function, the palletizing must be set to <Enable> in 『[F2]: System』 → 『5: Initialize』 → 『3: Usage setting』item.

 

l  Before using this function, go to 『[F2]: System』 → 『4: Application parameter』 → 『3: Palletizing』 → 『1: Palletize pattern register』and confirm the data value. 

If the set value is wrong, the robot may execute unwanted jobs.

 

l  This function is reflected only to the step whose step condition is PS.

Palletize shift (PAL) can be used only when paired with ‘palletize end (PALEND).’