A-13
Fig. 8 Plan-O-Gram (Aerial V
iew)
Note:
W
h
e
n
pr
ogr
amm
ing
, it
is i
mpo
rt
ant
to p
ro
g
ra
m th
e
bi
n
se
le
cti
ons l
o
c
at
ed at th
e
bac
k r
ight and
the fr
on
t r
igh
t cor
n
er
s
a
s
shor
t b
ins; th
e
r
e
st a
re
ta
ll
bi
ns.
If
s
h
or
t bi
ns ar
e p
ro
g
ra
mme
d
as
ta
ll
b
ins,
the
robo
t w
ill
m
ake
cont
act
w
ith the
bottom o
f the b
ins
and
attem
p
t
to
pul
l th
em o
u
t,
r
esul
tin
g in p
o
ss
ibl
e mac
h
in
e fail
ur
e
(out-of-
or
de
r)
.
If
ta
ll
bi
n
s
a
re pr
og
ramm
ed
a
s sho
rt
bi
ns,
the mac
h
in
e wi
ll
on
ly
v
en
d
pr
od
uct base
d
o
n
the
he
ight
of a
s
h
o
rt
b
in.
T
h
e r
o
b
o
t w
ill le
av
e p
ro
duc
t
a
t
the
bottom o
f the tall
b
in
an
d flag
i
t
Out-Of-P
ro
d
u
c
t.
R
e
fer
to
P
A
RT
:A
G
E
NE
R
A
L
I
N
F
O
RM
A
T
IO
N
, PRO
D
UC
T
L
O
A
D
ING a
n
d
PRO
G
R
A
MM
ING
secti
o
n
s
.
BIN SETUP/ PLAN-O-GRAM
