[571] PalletWare
54 Product Specification RobotWare Options for BaseWare OS 4.0
- Tool control
- Standardized error handling
- Predefined user routines
Programming principles
PalletWare is added to the BaseWare system. PalletWare consists of predefined motion
principles and communication routines for communicating with external equipment. It
is not necessarily needed to implement any RAPID code. However, the system supports
integrators for customizing by standardized functions and instructions.
Customizing PalletWare
PalletWare can be up-and-running without any need for implementing RAPID code,
but it must be adapted to the current robot cell and its physical lay-out. For instance,
there are a number of steps which are compulsory, e.g:
- Connect external equipment such as infeeders, tool, PLC etc., via the predefined
interface.
- Connect safety equipment such as emergency stop, safety fences etc.
- Define tooldata if the tool does not match the templates
- Check the set-up in the configuration module PAL_CFG.
- Define/teach work objects to the stations
- Define/teach robtarget with tool in zero orientation
- Create and load pallet cycles with PalletWizard.
In addition to this, PalletWare offers a great deal of customizing possibilities for
advanced users, e.g.
- Using tools with suction cups or mechanical gripper
- Sliding uppermost layer to gain pallet height
- Controlling orientation on infeeder
- Add or skip safety height movements between stations
- Set priority when working with several pallet cycles in parallel.
- Etc.
Pallet Wizard
Pallet Wizard is a complete and easy to use stand alone tool running on a PC under
Windows 95/98 or Windows NT, for off line programming of palletizing or
depalletizing processes. It is delivered as a part of the PalletWare option package.
In PalletWizard the complete cell with its different components like the products, the
tools, the in/out feeders and pallet stations as well as the pallet cycles with the layers
and the pattern descriptions can be defined.
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