12 of 24
Palletizer for Universal Robots - User Manual
–
Ver. 1.0
2.
Robot Program
The program node contains the full program tree for simple palletizing applications. The flow of the
palletizer system is divided into three sections; startup, execute and reset.
Figure 9: Robot program divided by sections
Startup Section
The startup phase contains the following steps:
1.
Deactivates the gripper, this is to ensure that the gripper is in the deactivated state when
starting the program.
2.
Wait for an empty pallet, checks if the user wants to continue from the last palletized stack
or resetting with a new pallet.
3.
Move to a safe position, this is to ensure that the robot starts in a position that is close to the
pick up position.
4.
Check lowering of lift (only when lift enable), check the state of a lift and if the lift is higher
than the need elevation it is lowed to the correct elevation.
Startup
Execute
Reset