Pallet Definition

A pallet is defined by teaching points P1, P2 and P3 as a minimum to the manipulator, and by specifying the number of points from P1 to P2 and from P2 to P3.

If the pallet is a well ordered rectangular shape, only 3 of the 4 corner points need to be specified. However, in most situations, it is recommended to use 4 corner points to define the pallet.

To define a pallet, first teach either 3 or 4 corner points. Then, define the pallet as follows:

4-point definition: P1, P2, P3 (and P4) are shown below. There are 3 positions from P1-P2 and 4 positions from P1-P3. This makes a pallet which has 12 positions total. To define this pallet the syntax is as follows: