Palletizing

koyalov

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...

matthewd92

How are you doing the straight and diagonal palletizing?  Are you using the pallet wizard?

koyalov

matthewd92 said:

How are you doing the straight and diagonal palletizing?  Are you using the pallet wizard?

yes,I'm using 2 pallets wizard

koyalov

Now i have another problem.I make my first cycle and its work.Than I take the positions from first cycle and increment it with my offset.This new positions I use in another palleting cycle but robot leave all parts in first position. I post my program:
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