Hello,
I am working on depalletizing parts from a layer with 3 rows and 6 columns. How do I make the UR to move the next pallet with the same rows and columns?
Currently, I have 2 grids next to each other and our program goes:
Depalletize, move to EOAT check then machine. But once the pallet1 is done, it goes back to the 1st part of the same pallet, ignoring the 2nd pallet.
Thank you for looking.
It sounds like you have already set up two individual Pallet templates, right?
You should switch between the two with an If node.
You can for example enable the “End Sequence after palletizing done” option in the Pallet node, which lets you execute a sequence after the last item has been placed.
If you need to switch between each layer, you will have to look at the counter for each Pallet and then switch between the Pallet nodes at the right time.
Actually, I have 2 grids under the same Pallet but I couldn’t seem to get the UR to move to the next grid after the first one. Would the 2 pallet template achieve this? Also, I have another exit pallet where it drops machined parts. If I’m able to track the pallet count on the first grid, how do I tell the UR to move on to the next one?
Having two patterns in the same Pallet allows you to use different patterns for each layer of a palletizing/depalletizing task.
You should set up two Pallet nodes, yeah. The UR will execute your program sequentially, so it’ll execute the first Pallet node in your program followed by the next. You can then use If nodes to determine if a Pallet node should be executed or not during a loop of the program.
I ended up using 2 loops with “until number of cavities has been reached. Below is another loop with the same properties. It worked for my project. Thank you so much for your help! @efn