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koyalov
Partner Posts: 7 Apprentice
Palletizing |
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Hallo everybody! I´m new in this forum und I need yours help with UR10. I realise now the project that the robot takes 12 parts from conveyor and put them in straight direction on the pallet. After that, robot takes 10 parts from conveyor and puts it's on the others in a diagonal direction. Next step, I need to repeat first cycle but +120mm higher and so.I know that I need some variable position,but I don't know how to realise it.
Now my programm look like this:
count:=0
for 0<count<12
call Palletizing cycle straight;
for 13<count<23
call Paletizing cycle diagonal;
But,how I realise the next cycle with z= +120?
Maybe somebody can help me?! Thank you...
Now my programm look like this:
count:=0
for 0<count<12
call Palletizing cycle straight;
for 13<count<23
call Paletizing cycle diagonal;
But,how I realise the next cycle with z= +120?
Maybe somebody can help me?! Thank you...
Tagged:
def aaa():
while (True):
Schleife_1 = 0
while (Schleife_1 < 12):
$ 3 "Palettieren"
Pose_2 = interpolate_pose(p[.120426602016, -.440190251002, .286110081682, -3.123016443266, .027484417219, -.070240871091],p[.120534394730, -.689790352592, .286686032829, -3.122986450373, .027238983624, -.070339493798], cnt_2/2.0)
if (cnt_2 >= 2):
cnt_2 = 0
else:
cnt_2 = cnt_2 + 1
end
$ 8 "Herangehenswe_1"
movel(pose_trans(Pose_2, pose_trans(pose_inv(p[.120439458377, -.440207460590, .286127914811, -3.123050206445, .027389459666, -.070230175385]),p[.120564436728, -.440200240257, .316955698222, -3.123079966487, .027199925276, -.070461069086])), a=1.2, v=0.25)
$ 9 "MusterPunkt_1"
movel(Pose_2, a=1.2, v=0.25)
$ 10 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 11 "Warten: 1.0"
sleep(1.0)
$ 12 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 13 "Beenden_1"
movel(pose_trans(Pose_2, pose_trans(pose_inv(p[.120439458377, -.440207460590, .286127914811, -3.123050206445, .027389459666, -.070230175385]),p[.120575110647, -.440204134012, .316936531329, -3.123023042021, .027238961937, -.070426741584])), a=1.2, v=0.25)
Schleife_1 = Schleife_1 + 1
end
$ 14 "Schleife 3 Mal"
Schleife_2 = 0
while (Schleife_2 < 12):
$ 15 "offset≔p[0,0,0.1,0,0,0]"
global offset=p[0,0,0.1,0,0,0]
$ 16 "x≔pose_add(Herangehenswe_1,offset)"
global x=pose_add(p[.120564436728, -.440200240257, .316955698222, -3.123079966487, .027199925276, -.070461069086],offset)
$ 17 "y≔pose_add(MusterPunkt_1,offset)"
global y=pose_add(p[.120439458377, -.440207460590, .286127914811, -3.123050206445, .027389459666, -.070230175385],offset)
$ 18 "z≔pose_add(Beenden_1,offset)"
global z=pose_add(p[.120575110647, -.440204134012, .316936531329, -3.123023042021, .027238961937, -.070426741584],offset)
$ 19 "Palettieren"
Pose_3 = interpolate_pose(p[.120446975294, -.440174300163, .386105743017, -3.122987072271, .027180023431, -.070180129829],p[.120412846630, -.689779079141, .407124937411, -3.123039817541, .027413468209, -.070154413182], cnt_3/2.0)
if (cnt_3 >= 2):
cnt_3 = 0
else:
cnt_3 = cnt_3 + 1
end
$ 24 "x"
movel(pose_trans(p[0.0,0.0,0.0,0.0,0.0,0.0], x), a=1.2, v=0.25)
$ 25 "y"
movel(pose_trans(p[0.0,0.0,0.0,0.0,0.0,0.0], y), a=1.2, v=0.25)
$ 26 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 27 "Warten: 1.0"
sleep(1.0)
$ 28 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 29 "z"
movel(pose_trans(p[0.0,0.0,0.0,0.0,0.0,0.0], z), a=1.2, v=0.25)
Schleife_2 = Schleife_2 + 1
end
end