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Specific index through pallet routine |
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/ Most recent by NathanR
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I am dropping items into a tray and want to do this in a specific sequence. How would I include this in my program. Here is my current program. I am also having issues where my action, approach, and exit are still showing yellow as if they are undefined
Pallet1 is a predefined plane
Program
Init Variables
BeforeStart
Gripper Activate
Gripper Move60% (1&2)
MoveJ
Start_point
Pallet 1 Calculations
Pallet1_Count≔20
Pallet1_Rows≔4
Pallet1_Cols≔5
Pallet1_XLength≔195.58/1000
Pallet1_YLength≔244.475/1000
Pallet1_XDelta≔Pallet1_XLength/(Pallet1_Rows)
Pallet1_YDelta≔Pallet1_YLength/(Pallet1_Cols)
Pallet1_ZApp≔20/1000
Pallet1_ZExit≔20/1000
Robot Program
Calculations
Pallet1_Index≔Pallet1_Count
Pallet1_XIndex≔floor(Pallet1_Index/4)
Pallet1_YIndex≔Pallet1_Index-(Pallet1_XIndex*5)
Pallet1_XOffset≔Pallet1_XDelta
Pallet1_YOffset≔Pallet1_YDelta
Pallet1_Action≔pose_trans(Pallet1, p[Pallet1_XOffset,Pallet1_YOffset,0,0,0,0])
Pallet1_Appr≔pose_trans(Pallet1, p[Pallet1_XOffset,Pallet1_YOffset,Pallet1_ZApp,0,0,0])
Pallet1_Exit≔pose_trans(Pallet1, p[Pallet1_XOffset,Pallet1_YOffset,Pallet1_ZExit,0,0,0])
Motion
MoveJ
Pallet1_Appr
Pallet1_Action
Pallet1_Exit
Maybe you could remove the yellow color by initialling those positions in the before start ?
Why don t you use the UR pallet node ? That would ease the programming.