18-10
18-5. Sample programs of palletizing
Operation:
Pick up unloaded works and put in a pallet one by one in good
order.
Precondition:
This sample program is a program to put the workpiece in a
pallet one by one in good order using minimum teaching points.
Therefore, the sample program abbreviated a program to pick
up unloaded a work with “PICK-UP.prg” and a program to
release the work with “WORK-Rel.prg”
18-5-1. Sample 1
In this sample program, teaching points are used to specify
the row pitch and column pitch.
P1-P2: Placing the work.
P3:
Specifying the row pitch.
P4:
Specifying the column pitch.
Relationship between work and teaching points
P1
P2
P3
P4
Column pitch
Row
pitch
Row
Column
Work
<Note>
For better understanding, this sample program simply
multiplied the taught row pitch and column pitch to specify
the position. That means, the pitch errors at teaching are
also multiplied. Therefore, the sample program is not
suitable for a system that requires precision.
To ensure precision, teach the end points of both row and
column and then divide each point value by (the number of
column/row (“n”) –1). With this way, the pitch errors may
be reduced.
Row pitch
“n” pieces