伯朗特机器人股份有限公司
BORUNTEROBOTCO.,LTD.
Contents
Palletizingprocess-1-
Simplepalletizing/completepalletizing-1-
Completepalletizing-1-
Parametersetting-1-
Grippersetting-2-
Palletsetting-2-
Workobjectparameter-3-
Blockmode-4-
Positionsetting-8-
Flatmode-8-
Simplepalletizing-14-
Parametersetting-14-
Grippersetting-14-
Positionsetting-15-
Generatefiles-16-
Positiondebugging-19-
Palletizinginstruction-22-
PALON(startpalletizing)-22-
PALGRIPPER(switchgripper)-22-
PALENTER(palletizingentrypoint)-23-
PALSHIFT(palletizingauxiliarypoint)-23-
PALREAL(palletizingworkobjectpoint)-24-
PALCLEAR(palletizingreset)-24-
PALOFF(palletizingendingjudgment)-24-
PALLET_POS(obtainworkobjectpointposition)-24-
PAL_SET_EXAMPLE(simplepalletizinginstruction)-25-
Applicationscenarios-25-
Scenario1-Fixedpickingpoint,andpalletizingbylayersatplacingpoint-25-
Scenario2-Fixedpickingpoint,heightcompensationatplacingpoint-26-
Scenario3-Fixedpickingpoint,correctedlayerheight-27-
Scenario4-Fixedpickingpoint,fixedheightatplacingpoint,verticalarrangement-28-
Scenario5-Fixedpickingpoint,rotating180°asawholeatplacingpoint,andtheXYtranslation
compensation-28-
Scenario6-Fixedpickingpoint,workobjectrotating90°atplacingpoint-29-