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11-10 Chapter 11 User program examples
2.2
Palletizing
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Overview
The following is an example for picking up parts supplied from the parts feeder and placing them on
a pallet on the conveyor. The pallet is ejected when full.
Palletizing
P1: Pallet reference position
Robot
Z
0
50mm
P1
P0
P0: Part supply position
Parts feeder
33C10-R7-00
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Precondition
1. I/O signal
DI (30)
Component detection sensor
1: Parts are supplied
DI (31)
Pallet sensor
1: Pallet is loaded
DO (30)
Robot hand open/close
0: Open / 1: Close
DO (31)
Pallet eject
1: Eject
Robot hand open/close time is 0.1 seconds and pallet eject time is 0.5 seconds.
2. The points below should be input beforehand as point data.
P0
Part supply position
P1
Pallet reference position
P10
X direction pitch
P11
Y direction pitch
3. Vertical movement is performed to a position Z=50mm above the pallet and parts feeder.
Summary of Contents for SCARA YRCX Series
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