Installation and Commissioning

Programming Station 3.0• ProductsA number of different products, for example, boxes, pallets, tier sheets etc., maybe defined, each with the following properties:- Size- Sides with labels- Robot speed and acceleration when carrying the product- Pick and place approach distances, vertically and horizontallyPallet cyclesA number of different pallet cycles may be defined. A pallet cycle consists ofpalletizing a complete pallet (i.e. to pick and place all products, including the palletitself).Each pallet cycle includes a number of layer cycles. Each layer cycle consists of onecomplete layer with all the products to be picked and placed in this layer.Each layer cycle may further be broken down in a number of pick-place cycles, whereeach pick-place cycle consists of picking one or several parts and placing them on thepallet. Within each pick-place cycle there may be several pick operations, if partsshould be picked in separate operations. Similarly, there might be several placeoperations in each pick-place cycle.A number of different layer cycles may be defined, including pick-place cycles. Theselayer cycles may then be freely used and combined in different pallet cycles (palletcompositions).For each layer cycle the following properties may be defined:- The product to pick and place.- The infeeder to use. Several infeeders may be used, if necessary.- The pattern to use.- The pick-place cycles to use.For each pattern the following properties may be defined:- The number of parts to place.- The position and orientation of each part. Part positions are always related toreference lines, freely positioned on the pallet. Any number of reference linesand positions are allowed. Label sides of the articles may be placed facing out.- The envelope of the pattern (i.e. the outer borders of the pattern).Product Specification RobotWare for BaseWare OS 3.1 53