BORUNTE伯朗特 NBT系统_码垛工艺手册 EN.pdf

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-