Chapter 2 Program Flow
2-15
2.5.2 Palletizing Library
There is no special instruction for palletizing in the PAC language. But
palletizing operation can be realized using a program prepared as a library.
A library can be added for palletizing to a project by using the program bank.
When the system executes “New system project,” if [1-palletizing] is selected in
the column [EQuipment type] of the dialog box [New project], a library program
is automatically registered in the program project from the beginning of the
library.
Fig. 2-11 [New Project] Dialog Box
2.5.2.1 Palletizing
Palletizing is used to place parts on a pallet or pick them up in order from a
pallet with partitions as shown in Fig. 2-12.
A library program for palletizing is created so that the robot executes palletizing
operation only when the number of partitions and positions of the 4 corners are
taught.
The palletizing program changes the pick-up position on the pallet every time
the program is called.
Fig. 2-12 Pallet with Partitions
Select [1-palletizing].
Comments to this Manuals