Pallet

1

Pallet Row/Column/Stack/Thickness

This is for entering the number of the row/column/stack and the stack height.

• Row: default 3 / range 1-200

• Column: default 4 / range 1-200

• Stack: default 1 / range 1-9999

• Thickness: default 0 / range 0-10000 [mm]

2

Save Pose

This selects a reference coordinate and saves a reference point.

• The pattern starts in the direction of Point 1->Point 2.

  • If necessary, Point 1/2 can be swapped.

• Point 3 and Point 4 do not affect the order.

3

Pallet Pattern

This selects the robot’s movement pattern.

• Snake, zigzag, rhombus snake, rhombus zigzag

4

Approach/Retract Distance

This is for entering the approach/retract distance in x, y and z values from the tool.

In general, to retract 100 mm in the z-direction, “0, 0, -100” must be entered.

5

Place Offset

This enters the offset values to apply to the points created based on the 4 poses (positions).
This value can be used to prevent friction between the workpiece and pallet wall during release pallet teaching.

6

Use Custom Item Position

You can use [Use Custom Item Position] to see the palette points created, or you can change the location arbitrarily.

[Clear Custom Position] button: All custom location information can be initialized.

You can enter a value in the item field or select from the list to select the points you want to check through the buttons. The order of points is generated according to the selected pattern

• [Approach] button: Move to the approach pose

• [Retract] button: Move to the retract pose

• [Get Pose] button: Load the current position

• [Move To] button: Move to the calculated pallet point

• [Apply Position] button: Saves the changed poisition

• button: Initializes the custom position of the selected item