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Defining a Pallet Layout
Figure 10-3. Relative Location
Figure 10-4. Joint Angles
10.3 Defining a Pallet Layout
When defining a pallet layout, you are teaching three points: the pallet origin (A), the last
location in the origin row (B), and any location in the pallet that is not in the origin row
(C). See Figure 10-5 for an example. Pallets can be easily moved within the workcell by simple
reteaching these three points on the pallet.
NOTE: The points labeled in the figures are only for example. You could
define the pallet using any corner part as the origin, and using any row or
column orientation. That is, the pallet rows do not need to be parallel to
the robot World axes as shown in the example. However, keep in mind
that the pallet will always be processed starting with location A, and will
process the A-B row before advancing to the next row.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 145