5. Simulation example
The simulation section describes how to carry out palletizing and depalletizing in simulation by using HRpal and HRSpace3. The purpose of this example is to ensure that the user configures the shapes of the pallet and box to carry out teaching for positions, and change the standard program and check whether the operation takes place properly. However, this example excludes the transportation of a package in simulation because such simulation includes more complicate processes.
In this example, the simulation is carried out as shown below in Figure 5.1 in which one pallet and one package are used for simulation. Then, the depalletizing simulation can be executed by making a simple change in the same environment configuration.
Figure 5.1 Palletizing configuration example
5.1. Environment configuration
5.2. Pattern creating progressing in stages