ABB IRB 6400R, Руководство пользователя онлайн

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PalletWare
48 Product Specification RobotWare for BaseWare OS 3.2
Products
Any number of different products with different dimensions may be handled and placed
in different patterns on the pallet. Each layer must have the same product only, but
different layers on a pallet may have different products.
Products may be delivered on one or several in-feeders and placed on one or several
different pallets.
For each separate product individual handling speeds and load data are used.
The dimensions and speeds of the products may be changed in run time, thus affecting
all pick and place positions.
Movements, approach and retreat positions
All movements are calculated in run time and relative to the different coordinate
systems defined for each station. Between stations, e.g. moving from an in-feeder to a
pallet station, the robot may be forced to move up to safety height and to retract before
moving towards the new station. While moving to the pick or place position, the robot
will first move to an approach position and then to a prepick/place position. These
horizontal and vertical distances for the approach positions, relative to the pick or place
position, may be individually defined per product or station. In addition, the approach
direction may be individually defined per pick or place position. These approach data
may be changed in run time.
The picking and placing movements and the sequence to search different stacks for
empty pallets or tier sheets may be customised if necessary.
User routines
A number of different user routines may be called at certain phases of the pallet cycle.
These routines can be used for communication with external equipment, for error
checking, for operator messages etc. Such user routines are grouped in three main
groups according to when they are called in the pallet cycle. The groups are:
- Cycle routines, connected to the different cycles, i.e. pallet cycle, layer cycle,
pick and place cycle. Each such cycle may have its own individual user routine
at the beginning, at the middle and at the end of the cycle.
- Station access routines, connected to the different stations. A specific user rou-
tine may be called before (station-in routine) and after (station-out) a pick/place
on a feeder or pallet station, e.g. to order the next products on the feeder.
- Pick stack routines, connected to stacks. Such routines are called to search and
pick a product on the stack.