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Chapter 2 Program Flow

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2.5.2 Palletizing Library

There is no special instruction for palletizing in the PAC language. But

palletizing operation can be realized using a program prepared as a library.

A library can be added for palletizing to a project by using the program bank.

When the system executes “New system project,” if [1-palletizing] is selected in

the column [EQuipment type] of the dialog box [New project], a library program

is automatically registered in the program project from the beginning of the

library.

Fig. 2-11 [New Project] Dialog Box

2.5.2.1 Palletizing

Palletizing is used to place parts on a pallet or pick them up in order from a

pallet with partitions as shown in Fig. 2-12.

A library program for palletizing is created so that the robot executes palletizing

operation only when the number of partitions and positions of the 4 corners are

taught.

The palletizing program changes the pick-up position on the pallet every time

the program is called.

Fig. 2-12 Pallet with Partitions

Select [1-palletizing].

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