[Tools]-[Robot Manager]-[Pallets] Page
This page allows you to define the pallet (Pallet). When the page is selected, values for the available pallet are displayed. When a Pallet is undefined, then all fields for the Pallet will be blank. The Pallet will be defined when you press the [Apply] button.
For more details on Pallet settings, refer to the following manual:
"SPEL+ Language Reference - Pallet Statement"
Navigating the grid
Press the [Tab] key to move to the next cell. Press the [Shift] + [Tab] key to move to the previous cell. Press the arrow [↑] or [↓] key to move to the cell above or below.
| Item | Description |
|---|---|
| Points | Specify the point variable to use for pallet definition. Select either 3 or 4. |
| Columns | Specify the division number of Point number 1(coordinate system data 1) and Point number 2 (coordinate system data 2) by an integer. The range is from 1 to 32767. (Division× Division Division <= 32767) |
| Rows | Specify the division number of Point number 1(coordinate system data 1) and Point number 3 (coordinate system data 3) by an integer. The range is from 1 to 32767. (Division× Division Division <= 32767) |
| Outside | Creates an accessible pallet outside the specified columns and rows. Optional. |
| X | Set the X coordinate in millimeters. |
| Y | Set the Y coordinate in millimeters. |
| Z | Set the Z coordinate in millimeters. |
| U | Set the U coordinate in degrees. |
| V | Set the V coordinate in degrees. |
| W | Set the W coordinate in degrees. |
| Apply | Sets the current values. |
| Restore | Reverts to the previous values. |
| Clear | Clears all values. |
Wizard
Select [Robot Manager]-[Pallets] tab to show the [Pallets] page.
Click the [Pallet Wizard] button. The following dialog appears.
Select the pallet number to define, the number of points to teach, the number of rows and columns, and whether to use "Outside". Then, click the [Next] button.
KEY POINTS
If a pallet is a well ordered rectangular shape, only 3 of the 4 corner points should be specified. However, in most situations, it is recommended to use 4 corner points to define a pallet.
Click the [Teach] button to show the [Teach first point] page.
KEY POINTS
You can proceed to the next step without teaching if a predefined pallet number is selected. When doing so, only teach the points that require re-teaching.
Jog the robot to the first corner to teach the position of it. Click the [Teach] button. The following dialog appears.
Teach the second to forth corners by following the steps (4) and (5).
The new pallet definition is displayed as shown below. Click [Finish] to apply the new definition.
