Denso RC5 Especificaciones descargar pdf (Pagina 82)

100

101

2-20

[ 3 ] Palletizing Counter

In palletizing the robot counts the number of partitions and stores the count

values as variables.

There are 4 types of counters; side direction (N), lengthwise direction (M),

height direction (K) and total (cnt).

These counters are defined in “pltKernl” which is the nucleus program for

controlling palletizing operation.

The library program “pltMove” adds a value of 1 to the total counter every time

one operation is finished and adjusts the values of the other counters.

The library program “pltDecCnt” subtracts 1 from the total counter value every

time calling is made, and each counter value is adjusted by subtraction.

Up to 30 palletizing programs can be created as the initial setting.

Therefore, there are 31 sets of palletizing counters. To change the number of

palletizing programs, refer to “2.5.2.2.1 Palletizing Program Customization.”

Count Rule

The palletizing counter adds a value of 1 to the total counter every time

“pltMove” is executed and adjusts the values of the other counters. As a result

of this the next pallet position is ensured.

If 1 is added to the total counter, the position of the lengthwise counter (M)

moves to the next. If the lengthwise counter (M) reaches the end and it

becomes the maximum value, then the side direction counter (N) moves to the

next and the lengthwise counter (M) becomes its minimum value. If the

position of the widthwise counter (N) reaches the end and becomes the

maximum value, the position of the vertical direction counter (K) moves to the

next and the widthwise counter (N) becomes the set minimum value.

If a palletizing program is stopped during processing and is then restarted, the

robot moves to the next position because the value of the counter variable is

counted up.

The contents of the palletizing counter are stored even if the power is turned

off. If the system is not initialized after being rebooted, the robot proceeds with

palletizing from the previous counter value.

Note: If an execution program is loaded after compiling, the values

of variables are initialized.

1 2 ... 77 78 79 80 81 82 83 84 85 86 87 ... 691 692

Comentarios a estos manuales

Sin comentarios

Denso RC5 Especificaciones Pagina 82

Comentarios a estos manuales

Relacionado con productos y manuales para Robótica Denso RC5