Universal Robots UR-6-85-5-A, Руководство пользователя

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3.4. Programming
Programming a Pallet Operation
The steps to go through are as follows;
1. Define the pattern.
2. Make a “PalletSequence” for picking up/placing at each single point. The
sequence describes what should be done at each pattern position.
3. Use the selector on the sequence command screen to define which of the
waypoints in the sequence should correspond to the pattern positions.
Pallet Sequence/Anchorable Sequence
In an Pallet Sequence line, the motions of the robot are relative to the pallet
position. The behavior of a sequence is such that the robot will be at the po-
sition specified by the pattern at the
Anchor Position/Pattern Point
. The
remaining positions will all be moved to make this fit.
Do not use the
Move
command inside a sequence, as it will not be relative
to the anchor position.
“BeforeStart”
The optional
BeforeStart
sequence is run just before the operation starts. This
can be used to wait for ready signals.
“AfterEnd”
The optional
AfterEnd
sequence is run when the operation is finished. This can
be used to signal conveyor motion to start, preparing for the next pallet.
3.4.23 Program → Command Tab, Stack
A stack is similar to a pallet with a “Line” pattern. However, stacking uses a
sensor to determine when the correct position is reached to grab or drop an
item. The sensor can be a push button switch, a pressure sensor or a capacitive
sensor.
Stacking Destacking
When programming a stacking operation, one must define
s
the starting
point,
d
the stack direction and
i
the thickness of the items in the stack.
On top of this, one must define the condition for when the next stack position
is reached, and a special program sequence that will be performed at each of
the stack positions. Also speed and accelerations need to be given for the
movement involved in the stack operation.
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