Denso RC5 Spezifikationen PDF herunterladen (Seite 80)

100

101

2-18

Note: H1 and H2 must satisfy the following conditions.

H1 > {H3 ×

××

× (K-1)} + 5

H2 > {H3×(K-1)} + 5

If these conditions are not satisfied, an error occurs during

initialization. These are provided so that the robot does not

collide with a pallet. They are used to set an approach point and a

depart point that are 5 mm higher than the maximum number of

layers. Even if the number of layers increases or decreases, the

approach and depart points are the same as shown in Fig. 2-16.

Fig. 2-16 Change of Layer Number and the Approach and Depart Points.

Points P1, P2, P3, and P4 at the 4 corners of the pallet show the positions of

parts. Fig. 2-17 shows each point and the respective execution sequence.

Fig. 2-17 Palletizing Sequence

pproach and depart points Approach and depart points Approach and depart points

H1 or H2

N pcs.

M pcs.

Executes in the sequence

of (1) ~ (15)

1 2 ... 75 76 77 78 79 80 81 82 83 84 85 ... 691 692

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