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Robot Concepts
Figure 10-5. Defining a Pallet Layout
For example, assuming a 40mm part spacing, the pallet in Figure 10-5 would be defined
as follows:
Location Components
X Y Z y p r
A
B
C
Pallet origin
F243:0 or <strong>Adept</strong>_Pallet.0
Last location in the origin row
F243:1 or <strong>Adept</strong>_Pallet.1
Another pallet location (not in
the origin row)
F243:2 or <strong>Adept</strong>_Pallet.2
350.000 270.000 54.000 0.000 180.000 0.000
350.000 350.000 54.000 0.000 180.000 0.000
270.000 350.000 54.000 0.000 180.000 0.000
In addition to the above, there are other parameters to define, such as the row count and
spacing, row configuration, and traverse direction.
NOTE: Make sure that you review the section “Why is Gripper
Orientation Important?” on page 147. It is necessary to understand this
concept, so that your parts are picked/placed correctly.
When all the parameters have been passed to the PLC Server, the system automatically
<strong>com</strong>putes the orientation and layout of the pallet. Then, the system has all of the
information it needs to pick parts from positions in the pallet (or, to place parts into the
pallet).
146 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B