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NathanRNathanR Posts: 3 Apprentice
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 

 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

Pallet1 is a predefined plane
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Comments

  • bcastetsbcastets Vacuum Beta tester Posts: 624 Expert
    The program locks ok.

    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.
  • NathanRNathanR Posts: 3 Apprentice
    Figured it out. The Palletizing program keeps running to points that are not the ones being called and has several bugs
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