Note
Name: Previous mode
Function: Switch to select the previous mode. When the first mode is selected, switch to the last mode again.
Note
Name: Next mode
Function: Switch to select the next mode. When the last mode is selected, switch to the first mode again.
Click “Edit” in the mode configuration column to enter the “Mode Configuration” pop-up window. It is mainly divided into three areas: pattern selection, box operation and stacking simulation.
Figure 10-3-21 Pattern configuration
Important
When adding boxes, the background color of the workpiece turns red when there is a collision between boxes, and the above operation cannot be performed at this time. If necessary, please adjust the box to be collision-free.
In the pop-up header, select a mode, then choose boxes in the box operation area to add them under this mode. You can choose one-click addition, which by default fills the centered pallet with boxes without any gaps. Customize box spacing; boxes can be added individually or in batches. Click “Confirm” to complete the mode information setup. When the selected boxes have inconsistent heights, configuration cannot be completed, and the prompt “Box type heights are inconsistent and cannot be added to the same mode” will appear.
Figure 10-3-22 Tips for inconsistent heights of selected boxes
Select the reference mode (the selected mode cannot be selected), compare and see whether the current mode configuration can be palletized based on the reference mode, so that customers can intuitively check the box stacking types in different modes.
Note
Currently only two modes, A and B, are supported.
Important
Palletizing direction: Taking the right pallet as an example, the lower right corner is the farthest point. Place a row of workpieces vertically or horizontally from the lower right corner, then place workpieces horizontally or vertically in the upper row, and so on (Web page The palletizing direction has been marked, please check carefully). The left pallet places workpieces mirroring the right pallet mode.
10.3.8.1. Advanced configuration
Click “Config” in the advanced configuration column to enter the “Advanced Configuration” pop-up window. The configuration items are as follows:
Figure 10-3-23 Advanced configuration
Dimensions of palletizing equipment: Dimensions of palletizing workbench.
Figure 10-3-24 Palletizing Station
Important
X, Y, and Z are the absolute values of the coordinates of the point at the upper right corner of the left tray or the upper left corner of the right tray relative to the robot’s base coordinate system. Angle is the rotation angle during the robot’s installation, which is recommended to be 0 during installation.
Lifting height for picking up materials: User-defined lifting height after successfully picking up materials from the grabbing point.
Waiting time for picking up materials: The user can customize the waiting time for monitoring the negative pressure arrival signal after picking up materials, and repeat the picking up action when it is not in place.
First/second offset distance: User-defined offset distance for tilting the robot to the target point. (Note: The first offset parameter Z must be greater than the height of the box, otherwise it will collide with the already placed boxes during the stacking process).
Partition configuration: Click “Configuration” in the partition configuration column to enter the “Partition Configuration” pop-up window, set the partition size “length”, “width” and “height” and select the start and stop of the partition.
Figure 10-3-25 Partition configuration
Figure 10-3-26 Recipe Management - Advanced Configuration Displays Partition Configuration
Then set the transition points of the partitions. There are three transition points for the partitions. The purpose of setting them is to roughly plan a movement path after grabbing the partitions to avoid collisions and being unable to complete the action of placing the partitions.
Note
Transition point 1 starts to move a certain distance from the box grab point and then teaches; transition point 2 starts to move a certain distance from transition point 1 and starts teaching, and can also become a transition intermediate point; transition point 3 starts to move from transition point 2 A distance is the last point before the partition is placed.
Figure 10-3-27 Partition transition point 1 (take the right station as an example)
Figure 10-3-28 Partition transition point 2 (take the right station as an example)
Figure 10-3-29 Partition transition point 3 (take the right station as an example)
Then set the grab point (keep the grab point at the center of the partition, and the bottom of the suction cup will be in a squeeze state when it contacts the partition) and placement point, and click “Confirm” to complete the partition information setting.
Figure 10-3-30 Partition grab point (take the right station as an example)
Figure 10-3-31 Partition placement point (take the right workstation as an example)
Lifting axis: Users can customize the start and stop of the lifting axis, communication parameters (IP address, port number and communication cycle), the floor number to start lifting and select the start and stop of the lifting axis.
Note
When the lifting shaft is working, the height it lifts each time is the height of the box.
When the lifting shaft function is turned on, the home page displays the advanced configuration content and displays the lifting shaft test button. Click the “Test” button to enter the “Lifting” button. Axis Test” pop-up window is used to test the accuracy of loading communication, rising and falling of the lifting axis to avoid problems such as inability to work and large errors when used directly.
Figure 10-3-32 Lifting shaft configuration
Figure 10-3-33 Recipe Management - Advanced Configuration Display Lifting Axis
Figure 10-3-34 Lifting shaft test
10.4. Program Generation
View “Program Generation” below the recipe display, and select the recipe based on the recipe and requirements. When recipes are selected for both left and right stations, startup priority needs to be selected; when a recipe is selected only for the left or right station, startup priority selection is not required. After entering the program name, click the “Generate” button.
Note
All program names start with “palletizing”. There is no need to input “palletizing”; just input the name after “_”. For example, for “palletizing_program”, input “program”.
Figure 10-4-1 Program Generation – Selecting Recipes for Both Left and Right Stations
Figure 10-4-2 Program Generation – Selecting Recipe for Left Station, No Recipe for Right Station
Important
If no palletizing recipe is selected for the left or right station, it means that station is not enabled.
After successfully generating the program, be sure to manually save all subprograms and the main program in Program Teaching.
Depalletizing programs start with “de”. For example, if the palletizing program is “palletizing_program”, the depalletizing program would be “depalletizing_program”.
When running a program with recipes configured for both left and right stations, after simultaneously receiving the workpiece-in-position signals for left and right, work proceeds according to the set priority.
10.4.1. Single Pick Point Program
There are two scenarios for a single pick point program:
Left and right stations select the same recipe;
Left and right stations select different recipes, but the box pick point pose configured in the recipes is the same.
Figure 10-4-3 Single Pick Point Box Pick Point
10.4.2. Dual Pick Point Program
To configure a dual pick point program, the left and right stations must select different recipes, and the box pick point poses configured in the recipes must be different.
Figure 10-4-4 Dual Pick Point Box Pick Point