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14.27 Command: Seek
Programming a Pallet Operation
1. Define the pattern.
2. Make a PalletSequence for picking up/placing at each single point. The sequence de-
scribes 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 a 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.
14.27 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.
When programming a seek operation for working on a stack, 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.
Version 3.11
Stacking
II-97
Destacking
e-Series
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