Download Adept Cobra PLC600 User's Guide - pulsar.com.tr

Defining a Pallet Layout
Figure 10-6. Pallet Orientation
Why is Gripper Orientation Important?
When teaching locations, remember that the gripper orientation relative to the part is
important. For example, consider the figures below. In Figure 10-7 the robot is at the pallet
origin (starting position) - note the orientation of the gripper relative to the part.
Figure 10-7. Pallet Origin
In Figure 10-8 the robot is at the last part location on the pallet row; however, the
gripper-to-part orientation is the same as in Figure 10-7.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 147