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4
Edit
4-37
6. Pallet definitions
Use the cursor keys to select [Edit] on the initial screen and press the ENTER key. Next, select [Pallet
Definition] and press the ENTER key to display the "PALLET DEFINITION" screen.
In this hierarchy, you can display, edit, or set the pallet definitions.
However, when using SCARA type robots, the standard coordinates need to be set.
For details about how to set the standard coordinates, refer to "8. Standard coordinates" in this Chapter.
A total of 40 pallets (definition numbers 0 to 39) can be defined then assign five consecutive point data from
point data areas (P0 to P2999). Five points are used for each pallet. The maximum number of points that can be
defined in one pallet is 32767 (=NX*NY*NZ).
NOTE
• A total of 40 (PL0 to PL39) pallets can be defined.
• The maximum number of points that can be defined as the positions on one pallet is 32767.
• Data in the point data area is used point data on the for pallet definitions.
NOTE
• When using multiple robots, the pallet definitions are used commonly.
■
Pallet definition
P
[
5
]
P
[
3
]
P
[
4
]
P
[
2
]
P
[
1
]
NZ
NX
NY
■
Data format of pallet definition
PLm
: Pallet number (m = 0 to 39)
PLN
: XY or YZ or ZX (Reference plane. The figure above shows that the XY plane is the reference.)
NX
: ###
(Number of points in the X-axis direction)
NY
: ###
(Number of points in the Y-axis direction)
NZ
: ###
(Number of points in the Z-axis direction)
POINT : P #### - P ####
(Start point number to be used - Start point number to be used + 4)
• Conditions "NX*NY*NZ < 32768" need to be satisfied.
• For points to be used, five consecutive points need to be allocated from P0 to P29995.
Example):
Pallet number PL0
Points to be used, P2900 to P2904
When moving to the "PALLET DEFINITION" screen (Edit Pallet Definition), the screen shown below will
appear.
■
"PALLET DEFINITION" screen
2. Robot setting status
7. Guide line
1. Hierarchy
5. Pallet number
6. Pallet data
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