5.4. Depalletizing
5.4. Depalletizing
Because of the difference in loading and placing down boxes, the palletizing and depalletizing operations differ in the loading/operation pattern as the unloading order is used instead of the loading order related to pattern. In this example, let’s take a look on how to change the simulation examples shown so far into ones that are appropriate for depalletizing work.
(1) For the next step, carry out depalletizing in the same environment. Check the depalletizing section for the pattern created previously in the pattern managing function of HRpal (Figure 5.20).
Figure 5.20 Depalletizing option check
(2) Create job programs by applying the same method used in Figure 5.8 Job creating. In this case, it is necessary to save data in the HRSpace Depallet Simulation folder differently from the previous process.
(3) Because the depalletizing process uses the same environment that is used for the palletizing process, the existing job programs can be used. Table 5-4 shown below lists the job programs in which the palletizing and depalletizing operations differ. Users just need to change the programs in which they differ.
Table 5‑4 List of programs in which the palletizing and depalletizing operations differ when the depalletizing option is checked
File name | Role | Difference from palletizing |
0001.JOB | Main program |
|
0050.JOB | Vacuum on |
|
0051.JOB | Vacuum off |
|
0100.JOB | Process parameter setting |
|
0200.JOB | Initialization of various variables |
|
0300.JOB | Initialization of various signals |
|
0400.JOB | Home position and workpiece position pose program |
|
0451.JOB | Tool control program |
|
0501.JOB | Pallet loading pattern shift variable | Different |
0551.JOB | Slip sheet shift variable | Different |
0601.JOB | Pallet coordinate creating program |
|
0701.JOB | Pallet parameter setting | Different |
0751.JOB | Basic palletizing program |
|
0801.JOB | Slip sheet parameter setting | Different |
0851.JOB | Slip sheet insertion program |
|
0999.JOB | Error handling program |
|
1001.JOB | (Simulation) test setup |
|
1002.JOB | (Simulation) test ending condition check |
|
(4) Copy the content of the previously created HRSpace Simulation folder to the HRSpace Depallet Simulation folder. By referring to the above Table 5-4, copy the 0501.JOB, 0551.JOB, and 0701.JOB files and paste them in the HRSpace Depallet Simulation/robot folder.
(5) After that, carry out simulation. Then, it can be checked that depalletizing, instead of palletizing, is carried out.