Home› Programming
Discussion
Back to discussions page
tylermartin
Founding Pro Posts: 26 Handy
Pallet Sequence programming |
1.8K views
|
Answered | |
/ Most recent by matthewd92
in Programming
|
13 comments |

I am trying to write a program for my UR to take parts from a plastic molding press and load them into a bin with 30 compartments, I'm having a little trouble figuring out all the steps to make a functioning pallet sequence and I wondered if you could help at all. I have dual grippers installed so my pattern is 15 points and the other 15 spots are filled by gripper 2 at the same time as gripper 1
So far I have pattern list with all my points in it then the pallet sequence is after that:
-PalletSequence
-Approach_1
-PatternPoint_1
- (I am unsure what to add here but I want the sequence to drop the parts in the compartment of the bin and go back to pick the next part from the press, then continue to the next point of my pattern.)
- rq_open_and_wait (gripper_1,gripper_2)
-Wait:0.01
-Exit
>MoveJ
-Clear_dunnage
-Home
[] write_output_integer_register(10,70)
have you done part packaging like this? is there something I am missing or will the program step through one pattern point at a time?
So far I have pattern list with all my points in it then the pallet sequence is after that:
-PalletSequence
-Approach_1
-PatternPoint_1
- (I am unsure what to add here but I want the sequence to drop the parts in the compartment of the bin and go back to pick the next part from the press, then continue to the next point of my pattern.)
- rq_open_and_wait (gripper_1,gripper_2)
-Wait:0.01
-Exit
>MoveJ
-Clear_dunnage
-Home
[] write_output_integer_register(10,70)
have you done part packaging like this? is there something I am missing or will the program step through one pattern point at a time?
Automation Technician - Industrial Millwright - Industrial Electrician
Ultra Manufacturing LTD. Waterloo, ON.
Tagged:
Best Answers
-
Grady_Turner Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Posts: 67 Handy
@tylermartin Yes the list option does advance like the other pattern options. The list option is useful for asymmetrical patterns. You need to teach all the points, but you only need to program what to do at each point once (Pallet sequence). -
tylermartin Founding Pro Posts: 26 Handy
We have completed this project and it is running well now! I did end up using the box feature for this and it worked out very well. Our program communicates with a Molding machine to know when to pick parts from it and then packages them into a 30 compartment bin. After the bin is empty the table it is sitting on tilts down and the robot pushes the bin down to a roller conveyor where it rolls away, then a powered conveyor turns on to load a new bin onto the tilt table and the robot orients the bin and goes back to the molding machine to get the first part again.
@matthewd92 gave some good options to try other than the UR wizard but in the end we just used the Wizard and it has worked very well for us!
Here is the video of how it works!
Automation Technician - Industrial Millwright - Industrial Electrician
Ultra Manufacturing LTD. Waterloo, ON. -
tylermartin Founding Pro Posts: 26 Handy
Tyler_Berryman said:@tylermartin Awesome video! Are the cable management sleeves an off the shelf product? Your robot setup looks really clean!Automation Technician - Industrial Millwright - Industrial Electrician
Ultra Manufacturing LTD. Waterloo, ON.
MoveL
Home
Loop 15 times
MoveL
Part_Pick_point
Intermediate_point //necessary point(s) to get from the machine to the pallet
Pallet
Pattern: Square //Program these points at the anchor position, which is selected when "Pallet Sequence" is highlighted. This is critical for offsets
1st corner
2nd corner
3rd corner
4th corner
Pallet Sequence //choose your anchor point accordingly
Approach //approach the bin "nests"
Pattern_Point //point at which you'd like to do your "work," in this case dropping parts
Gripper open
Exit //Exit the pallet, usually can be the same as approach point
If you do NOT have a loop for the pallet function, it will just go to the first location and that will be it. The pallet must have an external loop to iterate through the pattern. Does this make sense?
Tyler Martin
Can you elaborate on the second question? I know you mentioned using two grippers and dropping two parts at a time, so you will need to be careful how you teach the corners.
I think what @tylermartin means is that he programmed all 15 pick points. The pallet square tool makes you point to the 4 corners of the square pattern and figure out the rest of the points mathematically. So you don't have to teach all positions to the robot. Does this make sense?
Application Engineer
Robotiq
[email protected]
Tyler Martin
[email protected]
[email protected]
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3