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4.1.2 Pallet operation
When carrying out operations with the workpieces neatly arranged (palletizing), or when removing work-
pieces that are neatly arranged (depalletizing), the pallet function can be used to teach only the position of
the reference workpiece, and obtain the other positions with operations.
*Command word
Command word
Def Plt
Plt
*Statement example
Statement example
Def Plt 1, P1, P2, P3, P4, 4, 3, 1 ......................................
Def Plt 2, P1, P2, P3, , 8, 5, 2 ..........................................
Def Plt 3, P1, P2, P3, , 5, 1, 3 ..........................................
(Plt1, 5).............................................................................
(Plt1, M1).......................................................................... Operate position in pallet No. 1 indicated with the numeric variable M1.
The relation of the position designation and a pallet pattern is shown below.
End point B
Diagonal point
12
11
7
8
6
5
1
2
Start point
End point A
Zigzag
Pallet pattern = 1 (zigzag)
Defines the pallet to be used.
Obtains the designated position on the pallet with operations.
Defines to operate pallet No. 1 with a start point = P1, end point A = P2, end point B = P3
and diagonal point = P4, a total of 12 work positions (quantity A = 4, quantity B = 3), and
a pallet pattern = 1(Zigzag).
Defines to operate pallet No. 2 with a start point = P1, end point A = P2, and end point B
= P3, a total of 40 work positions (quantity A = 8, quantity B = 5), and a pallet pattern = 2
(Same direction).
Define that pallet No. 3 is an arc pallet having give five work positions on an arc
designated with start point = P1, transit point = P2, end point = P3 (total three points).
Operate the 5th position on pallet No. 1.
End point B
10
10
9
7
4
4
3
1
Start point
Same direction
Pallet pattern = 2 (same direction)
Explanation
Diagonal point
11
12
Start point
8
9
5
6
2
3
End point A
Explanation
Transit point
３
２
４
１
Arc pallet
Pallet pattern = 3 (arc pallet)
MELFA-BASIC V functions 4-98
4MELFA-BASIC V
End point
５
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