Mitsubishi MELFA CR1D, Инструкция по эксплуатации

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4MELFA-BASIC V
MELFA-BASIC V functions
4-98
4.1.2 Pallet operation
When carrying out operations with the workpieces neatly arranged (palletizing), or when removing work-
pieces that are neatly arranged (depalletizing), the pallet function can be used to teach only the position of
the reference workpiece, and obtain the other positions with operations.
*Command word
*Statement example
The relation of the position designation and a pallet pattern is shown below.
Pallet pattern = 1 (zigzag) Pallet pattern = 2 (same direction) Pallet pattern = 3 (arc pallet)
Command word
Explanation
Def Plt Defines the pallet to be used.
Plt Obtains the designated position on the pallet with operations.
Statement example Explanation
Def Plt 1, P1, P2, P3, P4, 4, 3, 1 ...................................... Defines to operate pallet No. 1 with a start point = P1, end point A = P2, end point B = P3
and diagonal point = P4, a total of 12 work positions (quantity A = 4, quantity B = 3), and
a pallet pattern = 1(Zigzag).
Def Plt 2, P1, P2, P3, , 8, 5, 2 .......................................... Defines to operate pallet No. 2 with a start point = P1, end point A = P2, and end point B
= P3, a total of 40 work positions (quantity A = 8, quantity B = 5), and a pallet pattern = 2
(Same direction).
Def Plt 3, P1, P2, P3, , 5, 1, 3 .......................................... Define that pallet No. 3 is an arc pallet having give five work positions on an arc
designated with start point = P1, transit point = P2, end point = P3 (total three points).
(Plt1, 5)............................................................................. Operate the 5th position on pallet No. 1.
(Plt1, M1).......................................................................... Operate position in pallet No. 1 indicated with the numeric variable M1.
12
7
6
1
11
8
5
2
10
9
4
3
End point B
Start point End point A
Diagonal point
Start point
10
7
4
1
11
8
5
2
12
9
6
3
１
２
３
４
５
End point
Transit point
End point B Diagonal point
Start point End point A
Zigzag Same direction Arc pallet