A: R104GB08A.PMD
B: R104DE08A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Section 8
Page 6
Palletising program
4 Approach sequence
The ”Approach sequence” specifies the
order in which the axes should move to
the palletising position.
1 2 3
0 Z X Y
1 X Z Y
2 Z Y X
3 X Y Z
4 Y X Z
5 Y Z X
63D
7 Z X-parallel, Y
8 Y X-parallel, Z
9 Y Z-parallel, X
The axes are moved in this
order (1-5)
All three axes move
simultaneously
1 and 2 move
simultaneously in
parallel followed by 3.
3 Pal - Parameters
First position
This is the position which you should
move to first. It depends on whether you
are placing or removing a part.
Final position
This is the position which you should
move to last. It depends on whether you
are placing or removing a part.
Difference
Here you specify the size of the gap
between the individual delivery positions.
Enter the difference for each axis
separately. If only one level is being
palletised, e.g. on a conveyor, it is not
necessary to enter a vertical value (Y-
axis).
Quantity
The quantity specifies how many parts
are to be deposited or removed in each
direction. The minimum value is ”1”.
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