4.3.9. Pallet and slip sheet parameter setting

The Pallet and slip sheet parameters setting programs (Job program #701 ~ #716) are used for assigning shift variables to progress palletizing or for initializing variables necessary for palletizing. Basically, there is no need to change the variables of relevant job programs. However, if the step is to be added or changed, the relevant job program can be prepare by changing it.

Program 6 Program for setting the pallet parameter

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

1 'Palletize Parameter Setting #0

2 V%[98]=0 'Error Handling Variable

3 IF V%[31]=V%[121] THEN

4 V%[31]=0

5 V%[61]=0

6 V%[91]=0

7 ENDIF

8 P[1001]=P[6001] 'Home Position

9 P[1002]=P[6501 + (V%[7]-1)*50)] + (0.000, 0.000, V![121], 0.000, 0.000, 0.000)R 'Near Package

10 P[1003]=P[6501 + (V%[7]-1)*50)] 'Package Pos

11 P[1004]=P[1002] 'Pick up Pos

12 P[1006]=P4 + R[2001+V%[31] 'Place Down

13 P[1005]=P[1006] + (0.000, 0.000, V![121], 0.000, 0.000, 0.000)R 'Near Place down

14 P[1007]=P[1005] 'Up

15 END

4.3.9. Pallet and slip sheet parameter setting​

4.3.9. Pallet and slip sheet parameter setting