Robot Palletizing

Agenda ROBO237 - WEEK #9
Review of Lab #6 Quick Teach Basics Bill Of Materials (BOM) New instructions TPWrite and TPErase ABB Palletizing Program Two dimensional palletizing program Example 3x2 matrix Adding TPReadFK instruction to the palletizing program ABB 3-dimensional palletizing program Case study Example 2x3x2 matrix

Solution for Lab #6 – method 1
PROC main() MoveJ home,v1000,fine,tool0; pallet; MoveJ home,v1000,fine,tool0; ENDPROC ENDMODULE PROC pallet() FOR y FROM 0 TO 3 STEP 1 DO pickup; MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; MoveL Offs(drop_pt,0,y*50.8,0),v1000,fine,tool0; open_gripper; MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; ENDPROC

PROC pickup() MoveJ a_pick,v1000,z10,tool0; open_gripper; MoveL pick,v1000,fine,tool0; close_gripper; MoveJ a_pick,v1000,z10,tool0; ENDPROC

PROC open_gripper() Reset do1; WaitTime 0.5; ENDPROC

PROC teach_drop() MoveJ drop_pt,v1000,fine,tool0; ENDPROC

PROC close_gripper() Set do1; WaitTime 0.5; ENDPROC

Solution for Lab #6 – method 2
PROC main() MoveJ home,v1000,fine,tool0; pallet; MoveJ home,v1000,fine,tool0; ENDPROC ENDMODULE PROC pallet() FOR y FROM 0 TO 3 STEP1 DO pickup; Place y; ENDFOR ENDPROC PROC pickup() MoveJ a_pick,v1000,z10,tool0; open_gripper; MoveL pick,v1000,fine,tool0; close_gripper; MoveJ a_pick,v1000,z10,tool0; ENDPROC

PROC Place (num y) MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; ConfL\Off; MoveL Offs(drop_pt,0,y*50.8,0),v1000,fine,tool0; open_gripper; ConfL\On; MoveJ Offs(drop_pt,0,y*50.8,50),v1000,fine,tool0; ENDPROC

PROC close_gripper() Set do1; WaitTime 0.5; ENDPROC

PROC teach_drop() MoveJ drop_pt,v1000,fine,tool0; ENDPROC

PROC open_gripper() Reset do1; WaitTime 0.5; ENDPROC

QuickTeach software- Creating and calling a subroutine by passing parameter/s to it
A. Select “Routines” from the “VIEW” top menu keys 1. Cursor to the new subroutine 2. Select “Decl” (Declaration) from the bottom function keys 3. Select “Jump” key to switch to bottom