Pull Approach Position Value during Palletizing

General Application Help: How do I?
1

Hello, I am palletizing small objects which are keyed and must be in correct orientation to fix into a matrix tray. In order to do so I would like to find the approach position value that changes for each position the robot must go to during palletizing and change the Rx and Ry values to the variable I have create already for correct orientation. The problem arises because the approach position is a fixed position with a different Rx and Ry value for each hole.

Currently I have the robot going to this approach position and then adjusting to the correct Rx and Ry value. However, it would be more efficient to just go to the correct position with that fixed orientation I need by reading the approach position and making a new point at that position in correct orientation.

If anyone knows a way to do this it would be greatly appreciated, thanks!

2

You should write your own palletizing sequence for this. It would make it a lot easier to adjust stuff like the rotation. :slight_smile:

It might be a bit advanced if you have not done it before, though, but here’s a quick recipe:

  1. Create a TCP with a pointer on the robot tool for pointing out a plane.
  2. Make a custom feature (plane) by pointing out Origin, X and Y of the table/magazine, which you want to palletize on.
  3. Create counters for X, Y and Z axis’.
  4. Determine distance between each position in the pattern.
  5. Create position variables that use the counters to calculate each placement of the item.
  6. Move to the variable waypoints.

Does this sound possible to you? It will definitely make your job easier afterwards.
image

Here’s a quick example. I hope it makes sense to you. :slight_smile: