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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 se-
3. Use the selector on the sequence command screen to define which of the way-
Pallet Sequence/Anchorable Sequence
In an Pallet Sequence node, the motions of the robot arm are relative to the pallet
position. The behavior of a sequence is such that the robot arm will be at the position
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.
13.25 Command: Seek
A seek function 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. This function is made for working on stacks of items with varying
item thickness, or where the exact positions of the items are not known or too hard to
program.
CB3
quence describes what should be done at each pattern position.
points in the sequence should correspond to the pattern positions.
Stacking
Destacking
II-76
13.25 Command: Seek
Version 3.1
(rev. 17782)
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