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    ProgramaPALLETIZAÇÃO PDF

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    Joao Paulo Cecilio
    The document describes the steps of a palletization program. It sets robot grippers to open and close, sets palletizing speeds and positions, waits for movements to complete, and checks conditions to repeat the process or end. Key steps include opening and closing the robot grippers to grab and release parts, setting linear and rotary speeds for palletizing movements, and waiting for movements to finish before changing gripper states or checking loop conditions.

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    ProgramaPALLETIZAÇÃO PDF

    Uploaded by

    Joao Paulo Cecilio
    19 views1 page
    The document describes the steps of a palletization program. It sets robot grippers to open and close, sets palletizing speeds and positions, waits for movements to complete, and checks conditions to repeat the process or end. Key steps include opening and closing the robot grippers to grab and release parts, setting linear and rotary speeds for palletizing movements, and waiting for movements to finish before changing gripper states or checking loop conditions.

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    ProgramaPALLETIZAÇÃO.pdf

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    The document describes the steps of a palletization program. It sets robot grippers to open and close, sets palletizing speeds and positions, waits for movements to complete, and checks conditions to repeat the process or end. Key steps include opening and closing the robot grippers to grab and release parts, setting linear and rotary speeds for palletizing movements, and waiting for movements to finish before changing gripper states or checking loop conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    19 views1 page

    ProgramaPALLETIZAÇÃO PDF

    Uploaded by

    Joao Paulo Cecilio
    The document describes the steps of a palletization program. It sets robot grippers to open and close, sets palletizing speeds and positions, waits for movements to complete, and checks conditions to repeat the process or end. Key steps include opening and closing the robot grippers to grab and release parts, setting linear and rotary speeds for palletizing movements, and waiting for movements to finish before changing gripper states or checking loop conditions.

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    © All Rights Reserved
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    Programa Palletização

    1: RO[1:Garra Aberta(ON)]=ON
    2: RO[2:Garra Fechada(ON)]=OFF
    3: PL [1:WEL]=[1,1,1]
    P[1]=P[8]
    4: J P[1] 100% FINE P[2]=P[4]
    5: LBL[1]
    6: L P[2] 4000 mm/sec FINE PAL_1[A-1] = PAL_1[R-1]
    7: L P[3] 1000 cm/min FINE
    8: WAIT 1.00 (sec) P[3]
    9: RO[1:Garra Aberta(ON)]=OFF
    10: RO[2:Garra Fechada(ON)]=ON
    11: WAIT 1.00 (sec) PAL_1[BTM]
    12: L P[4] 3000 cm/min FINE
    13: PALLETIZING-B_1
    14: L PAL_1[A_1] 3000 mm/sec FINE
    15: L PAL_1[BTM] 1000 Cm/sec FINE
    16: WAIT 1.00(sec)
    17: RO[2:Garra Fech(ON)]=OFF
    18: RO[1:Garra Aberta(ON)]=ON
    19: WAIT 1.00(sec)
    20: L PAL_1[R_1] 3000 mm/sec FINE
    21: PALLETIZING-END_1
    22: IF PL[1:WEL]=[1,1,5], JMP LBL[2]
    23: JUMP LBL[1]
    24: LBL[2]
    25: J P[1] 100% FINE
    [END]

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