4.3.8. Pallet coordinate creating program

The shift data of the patterns created by HRpal or HRpalware are all recorded as relative shift values against the #1 package position. Accordingly, it is needed to create the user coordinate based on the #1 package loading position (or teaching position and marked with *) on the pallet and the relevant information is defined in the Pallet coordinate creating program (Job programs #601 ~ #616).

The user coordinate can be created by recording 3 coordinate values. The coordinate values to be recorded are as shown below (Program 5, Figure 4.3).

Ø P1 – Record the first package loading starting position, which is the coordinate origin at the same time.

Ø P2 – Set on point in the X axis based on #1 package.

Ø P3 – Set one point in the X-Y plane based on #1 package.

The user coordinate is basically defined based on the same method that is applied for the robot coordinate (right hand coordinate). When the user coordinate is defined in the manner of applying the right hand coordinate to the teaching position (* marked) shown on the HRpal or HRpalware screen, the operation will take place in the right manner.

Program 5 Job program for recording the user coordinate

Program File Format Version : 1.6 MechType: _MECHTYPE TotalAxis: _TOTAL_AX AuxAxis: _AUX_AX

1 ''HHI User Coordinate Define Program

2 PRINT #0,"Record the user coordinates by using the pose constant. After completing, delete PRINT and STOP."

3 STOP

4 P1=P* 'Origin

5 P2=P* 'X-axis

6 P3=P* 'X-Y plane

7 MKUCRD 1,P1,P2,P3

8 SELUCRD 1

9 P4=P1

10 P4.CFG.CRD=4

11 END

Figure 4.3 Example of the user coordinate recording

Figure 4.4 Right hand coordinate configuration

4.3.8. Pallet coordinate creating program​

4.3.8. Pallet coordinate creating program