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11-4 Chapter 11 User program examples
1.4
Palletizing
1.4.1
Calculating point coordinates
■
Overview
Repetitive movement between a fixed work supply position P0 and each of the equally spaced
points on a pallet can be performed with the following program.
In the drawing below, points N1 to N20 are on Cartesian coordinates, consisting of 5 points
positioned at a 50mm pitch in the X-axis direction and 4 points at a 25mm pitch in the Y-axis
direction. The robot arm moves from point to point in the order of P0-N1-P0-N2...N5-P0-N6-P0...
while repeatedly moving back and forth between point P0 and each pallet.
POINT DATA
Work supply position:
P0=
0.000 0.000 0.000 0.000 0.000 0.000
X-axis pitch:
P10= 50.000 0.000 0.000 0.000 0.000 0.000
Y-axis pitch:
P20=
0.000
25.000
0.000
0.000
0.000
0.000
N1 position:
P1 =
100.000
50.000
0.000
0.000
0.000
0.000
Calculating point coordinates
X+
N16
N17
N18
N19
N20
N11
N12
N13
N14
N15
N6
N7
N8
N9
N10
N1
N2
N3
N4
N5
50
25
P0
Y+
33C04-R7-00
Processing flow
START
Movement to supply position.
Movement to P100
P100 is shifted by the pitch amount
in the X-direction.
P200=P1
P100=P1
Repeat 5 times
Repeat 4 times
Movement to P0
Movement to P100
P100=P100+P10
STOP
P200=P200+P20
P100=P200
P1 coordinates are input at P200.
P1 coordinates are input at P100.
Movement to P200
P200 is shifted by the pitch amount
in the Y-direction.
31C05-R7-00
Содержание SCARA YRCX Series
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