Installation and Commissioning

Programming Station 3.0For each pick-place operation the following properties may be defined:- The number of pick operations- The number of place operations- The tool to be used. Different tool definitions may be used depending on thearticle to pick and the number of articles.- The approach direction for pick and place operations- The pick and place positions, related to the used patternFor each pallet cycle the following properties may be defined:- The pallet station to use. Several pallet stations may be used, alternately, if necessary.- The pallet to use in the first layer.- Orientation of the pallet in the pallet station- Load alignment (i.e. alignment of the pattern envelope - front, center or back,left, center or right).- The pallet composition for a complete pallet (i.e. specification of layer cyclesto use in each layer).User routinesIt is possible to call different user routines in different phases of the pallet cycle. Theseuser routines may be used for installation specific tasks, for example, communicationwith external equipment, operator messages, intermediate positions, etc. InPalletWizard, only the declarations of these user routines are created. The routine body,or RAPID code, can then be completed within ProgramMaker.All routines are grouped in three main categories, according to when they are called inthe pallet cycle. The groups are:Load data- Cycle routines, connected to the different cycles (pallet cycle, layer cycle, pickand place cycle). Each such cycle may have its own individual user routine inthe beginning, in the middle, and at the end of the cycle.- Station access routines, connected to the different stations. A specific user routinemay be called before (station-in routine) and after (station-out) a pick/placeaction on a feeder or pallet station, for example, to order the next products onthe feeder.- Pick stack routines, connected to stacks. Such routines are called to search andpick a product on the stack.Load data (load, center of gravity, and moment of inertia) is automatically set up byPalletWizard depending on the article dimensions, weight and number of articles in thetool.54 Product Specification RobotWare for BaseWare OS 3.1