Denso RC5 Specifications download pdf (Page 84)

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2.5.2.2 Palletizing Program

A practical palletizing program varies in special situations depending on the

application. However, the standard procedure for assembling the program by

the use of the library is prepared in the program “PRO1” of the title “Palletizing

Template 2.”

Use this “Palletizing Template 2” as a model and add the required items for the

application to make full use of program development.

Fig. 3-21 shows the program “PRO1” of the title “Palletizing Template 2.”

This example is based on the following assumptions.

• The points of palletizing are P50-P55.

• In the prepared program, the robot moves to fixed position P50 and

executes the palletizing program 0. Then it moves to assembling

position P51 to unchuck. It checks the layer finish and if the finish signal

is output, it changes the pallet accordingly. If there is no workpiece then

it terminates the motion.

“Palletizing Template 2” with the program name “PRO1” and “Palletizing

initialization template” with the program name “PRO2” are automatically

registered if “Palletizing” is selected in the item “Equipment type” of the “New

project” dialog box when a new project is created with WINCAPSII. Refer to

p.2-14 “2.5.2 Palletizing library.”

' !TITLE "Palletizing Template 2"

' !AUTHOR "Denso Robot Engineering Dept.

#DEFINE pltIndex 0 ' Palletizing program No.

' Any numeric value from 0 to 30 is available for

selection. #DEFINE ChuckNG 40 ' Number of pick up inspections IO.

' Any numeric value is available for selection.

PROGRAM PRO1 ' Change the name to the proper one.

MOVE P, P50 ' Moves to fixed position P50.

' Moves to palletized P50.

IF IO[ChuckNG] = ON THEN ' Pick up inspection for the previous time.

CALL pltDecCnt(pltIndex) ' Subtract 1 from the total counter.

END IF

CALL pltMove(pltIndex) ' Executes palletizing number 0.

MOVE P, P51 ' Moves to assembling position P51.

' Moves to palletized P51.

'<--- Insertion such as unchuck motion --->

CALL pltGetPLT1END(pltIndex,0) ' Obtains a finish signal for the 1

layer in I[0].

' The second argument "0" is an array number of "I"

' that is decided on the next line.

IF I[0] THEN ' When this is ON (e.g. when <>0)

'<--- Insertion of pallet change motion --->

CALL pltResetPLT1END(pltIndex) ' Clears the finish signal for the 1st layer.

END IF

END

Fig. 2-21 Program Name “PRO1” and “Palletizing Template 2”

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Denso RC5 Specifications Page 84

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