Article catalogue:
- 1 、Palletizing programming method of Industrial Robot
- 2 、How to write palletizing program for ABB industrial robot?
- 3 、How to adjust the position of each stack of robot palletizing?
Palletizing programming method of Industrial Robot
Palletizing programming of industrial robots:
1) what is palletizing?
Regular mobile robots for grasping and placement
2) how to simplify the palletizing program
Set the workpiece coordinate system and the tool to teach the first palletizing placement point, and the spacing and number of xyz directions can be set.
3) how to create palletizing programming
Write the program with the instructor, the procedure is as follows:
1RJ PR [1] 100% FINE; move to standby position P1
2:LBL [1]; label 1
3RJ PR [2] 100% FINE; move to standby position P2
4:WAIT RI [12] = ON; wait for the grab position to have material.
5RV L PR [3] 100mm/sec FINE; move to grab position P3
6:WAIT 1.00 (sec); wait for 1s
7:RO [11] = ON; grip closure valve ON
8:WAIT RI [11] = ON; wait for the handle closure switch ON
9:RO [11] = OFF; grip closure valve OFF
10:PALLETIZING-B_1
11RV J PAL_1 [Aq1] 80% FINE; move to approach point
12L PAL_1 [BTM] 100mm/sec FINE; move to the stack point
13:RO [10] = ON; handle opening valve ON
14:WAIT RI [10] = ON; wait for the grip to open the switch ON
15:RO [10] = OFF; handle opening valve OFF
16L PAL_1 [Rang1] 100mm/sec FINE; move to fallback point
17:PALLETIZING-END_1
18:JUMP LBL [1]; Jump to label 1
4) precautions
The main results are as follows: (1) in order to improve the action accuracy of palletizing, it is necessary to set TCP correctly.
(2) palletizing registers should avoid using other pallets with the same number at the same time.
(3) the palletizing function plays a role when the three instructions, namely palletizing instruction, palletizing action instruction and palletizing end instruction exist in one program. Even if only one instruction is copied into the subroutine for teaching, the function will not work properly and should be noted. (4) the palletizing number is automatically written together with the palletizing instruction, the palletizing action instruction and the palletizing end instruction after teaching the stacking data. There is no need to care whether the palletizing number is used repeatedly in other programs (each program has the data of the palletizing number).
(5) in the palletizing action instruction, you may not set “C” (circular motion) in the action type.
How to write palletizing program for ABB industrial robot?
ABB robot creates palletizing program
1) what is palletizing?
Regular mobile robots for grasping and placement
2) how to simplify the palletizing program
Set the workpiece coordinate system and the tool to teach the first palletizing placement point, and the spacing and number of xyz directions can be set.
3) how to create
Create a m_pallet module
Set up two routine
In the init program, set the number and spacing of xyz directions
In the p_main program, create the robot to move to the pHome point, the pPick position (grab position), and the first placement point pPlace_ini
Palletizing is carried out through a three-layer for loop. The example program is first x direction, then y direction, then z direction.
The offset is as follows:
PPlace:=offs (pPlace_ini, (iMel 1) * dis_x, (JMUI 1) * dis_y, (KMUI 1) * dis_z)
How to adjust the position of each stack of robot palletizing?
Recently, many friends have asked FANUC robot palletizing how to write, now the editor has arranged the tutorial for you, welcome to share it with more friends to learn, remember to click likes at the end of the article after reading, it is not easy to take the time to organize!
Friends who have knowledge of FANUC robot programming know that there are four ways of FANUC robot palletizing: B palletizing, BX palletizing, E palletizing, EX palletizing:
Palletizing stacking B corresponds to the case that the position of all workpieces is constant and the bottom shape of the stack is a straight line or parallelogram.
Stacking E corresponds to more complex patterns on the stack (such as when you want to change the posture of the workpiece, when the bottom shape of the stack is not a parallelogram, etc.).
Stacking BX, EX
Palletizing stacking BX, EX, you can set multiple line points. Palletizing stacking B and E can only set one line point.
Next we learn how to write B palletizing instructions!
The palletizing instructions are shown in the following figure
Palletizing instruction writing steps:
1. Click the instruction → palletizing as shown below
2. Select PALLETIZING-B B palletizing
3. Enter the palletizing configuration interface and configure it. As shown in the figure below, the configuration is a palletizing specification with 2 rows, 3 columns and 4 layers. Click finish to enter the palletizing bottom point setting after setting.
4. At this time, you need to set four points to let the robot automatically calculate the position of the rest of the product; move the cursor to the position that needs to be set, then teach the robot to the corresponding product position, and press and hold [SHIFT] + to record, so that the current position of the robot is recorded, as shown below.
5. Follow the fourth step to record the second location, as shown in the following figure
6. Follow the fourth step to record the second location, as shown in the following figure
7. Follow the fourth step to record the second location, as shown in the following figure
8. Click finish to enter the palletizing line point setting, as shown below
9. Move the robot to the proximity point (above the product placement point) and press and hold [SHIFT] + to record the current position of the robot, as shown below.
10. Move the robot to the product placement point and press and hold [SHIFT] + to record the current position of the robot, as shown below.
11. Move the robot to the escape point (above the product placement point, which can be the same as the approach point), and press and hold [SHIFT] + to record the current position of the robot, as shown below.
12. Click finish so that the palletizing instruction is finished.
13. The final program is written as shown in the following picture, which allows the robot to stop handling after moving the palletizing specification of 2-3-4.
This is the end of the introduction of the palletizing robot teaching process and the brief introduction of the palletizing robot teaching and reproduction process. I wonder if you have found the information you need? If you want to know more about this, remember to collect and follow this site.