Example: Depalletizing In a pallet objects protruding 40 mm from the face of the pallet are located in a number of rows and columns, The pallet has 3 rows that are 30 mm apart and 4 columns that are 50 mm apart, The plane of the pallet is assumed to be parallel to the X-Y plane. The rows are parallel to X-axis and the columns are parallel to Y-axis. The objects are to be picked up one after another from the pallet and placed in a location chute. Figure 6.2 indicates the pallet « PROGRAM DEPALLET 1 REMARK PROGRAM TO PICK OBJECTS FROM A PALLET REMARK CORNER AND CHUTE LOCATIONS ARE TAUGHT SETI MAXCOL = 4 =Tl MAXROW = 3 TROW = 1 SETI COLUMN_= 1 SET PICK = CORNER SHIFT PICK BY 20.00, - 20.00, 60,00 OPENI 10 MOVE PICK DRAW 0, 0, = 25.00 CLOSE! DRAW 0, 0, 25.00 MOVE CHUTE OPENI GOSUB PALLETAG.6.2 DepailetizingWSET 1 = 18 F563 quel * coe or seat bya wetting Wvollage of 54.396 and welding sets a weaviny PACU: ace ces a, Ret ae wep cana an Sie except the first two are optional The weaving and sop time. All WVSET 1 = 10, 7, 2, 0, 1, 3,0 is illustrated in Fig. 6.3, FIG. 6.3. The trapezoidal weave pattern WSTART starts welding under present welding condition and weaving condition (set by WSET and WVSET respectively). WEND inactivates a welding start signal. CRATERFILL instruction is used when a crater filler is required at a welding end. Example A weldment is to be made. The weld trajectory is a continuous path are welding along the paths X2-X with triangular weaving, Xz~X, with straight weld, X4—Xs—X¢ with circular interpolation, Xg=X7 with straight weld, X7-Xg- Xo with circular arc, Xs-X10 with straight weld and Xyo-X11 with five point weaving. The weld torch begins its movement from home position X; and departs to location X42. Crater is done at the end of trapezoidal weaving. Alaa i Write a Vi ing13 CIRCLE X4, X5.X6 14 MOVES X7 15 CIRCLE X7, X8, 9 16 MOVES X10 17 WEND 0.5 18 WSTART 3, 2 19 MOVES X11 20 CRATERFILL 0.8, 3 21 WEND.0.5 Ke Xe Xqy Xs SAS eg. TRAPEZOIDAL WEAVERS FIG. 6.4 The weld trajectory However, there are many VAL and VAL II statements like WHILE..DO.. © END, DO..UNTIL..and CASE..OF..VALUE..END, that are available in User's Guide or manual from Unimation Inc. and Kawasaki Unimation Japan. Some I/O signals and necessary instructions are illustrated in Chapter 7. Vision sama aaa eee ben / apt A Satoh cdepenert EME a