Robot palletization sample program

Sample program for palletization on the RV-7FLL robot.

It can also be used for other robots.

"Copyright © Mitsubishi Electric Europe B.V.

IMPORTANT !

These Function Blocks are demo versions that are only  intended to demonstrate program functions and provide general orientation for  your software choices. They are not suitable for use in real applications! "

"Improper use of demo versions in applications can lead to serious malfunctions  and damage! Programs for real applications must always be configured for the  individual application by trained staff and tested thoroughly before being  used.

Mitsubishi Electric cannot assume any liability if these examples are used in real applications."

1 Program description

The program is designed to calculate cycle times for most palletizing applications on a robot. In particular, it is addressed to the Euro-pallet palletization application on the RV-7FLL robot. The definition of the program consists in setting one point of the pallet and picking and packaging parameters.

2 Description of variables

Input parameters:

Variable	Description
MBoxWidth	Box width [mm]
MBoxDeep	Box depth [mm]
MBoxHigh	Box height [mm]
MPalletWidth	Pallet width [mm]
MPalletDeep	Pallet depth [mm]
MLayNum	The number od layers
MOffsetZ	Approach offset
MTimePos	Time for robot positioning [s]
MTimeGrip	Time to pick up the box [s]

Positions to teach:

Pal0 – pallet corner

Ppick – picking position 

3 Program example

1. '(1) Pal0 - Teach point - pallet corner
2. '(2) Ppick - Teach Point - picking position
3. '************** pallet setting ********************
4. MBoxWidth=292
5. MBoxDeep=161
6. MBoxHigh=166
7. MPalletWidth=1200
8. MPalletDeep=805
9. MBoxNumX=MPalletWidth\MBoxWidth
10. MBoxNumY=MPalletDeep\MBoxDeep
11. MLayNum=6
12. MOffsetZ=50
13. MTimePos=0.05
14. MTimeGrip=0.2
15. '************* pallet calculation **********************
16. MHGrip=-MOffsetZ       'wysokosc najazdu bez produktu
17. MHPut=-MBoxHigh-MOffsetZ       'wysokosc najazdu z produktem
18. MBoxNum=MBoxNumX*MBoxNumY
19. PalA=Pal0
20. PalB=Pal0
21. PalD=Pal0
22. PalA.X=Pal0.X+(MBoxNumX-1)*MBoxWidth
23. PalB.Y=Pal0.Y+(MBoxNumY-1)*MBoxDeep
24. PalD.X=Pal0.X+(MBoxNumX-1)*MBoxWidth
25. PalD.Y=Pal0.Y+(MBoxNumY-1)*MBoxDeep
26. def plt 1, Pal0,PalA,PalB,PalD,MBoxNumX,MBoxNumY,1
27. loadset 1,1
28. mvtune 2
29. tool 1
30. MCount=0
31. cnt 1
32. for mLayer=1 to MLayNum
33. for mprod=1 to MBoxNum
34. mov ppick,MHGrip
35. mvs ppick
36. dly MTimePos
37. hclose 1
38. dly MTimeGrip
39. mvs ppick,MHPut
40. ppal=plt 1, mprod
41. ppal.Z=Pal0.Z+(mLayer-1)*MBoxHigh
42. mov ppal,MHPut
43. mvs ppal
44. dly MTimePos
45. hopen 1
46. dly MTimeGrip
47. mvs ppal,MHGrip
48. MCount=MCount+1           'licznik cykli
49. next mprod
50. Next MLayer
51. cnt 0
52. end

Attachments:

File name	Description
Uniwersalny_program_paletyzacji.pdf	Manual
Paletyzacja_Sample.zip	Projekt RT Toolbox

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