Basic Characteristics RAPID

Example
Syntax
PROC pallet (num row, num column, num distance, PERS tooldata tool,
PERS wobjdata wobj)
VAR robtarget palletpos:=[[0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0],
[9E9, 9E9, 9E9, 9E9, 9E9, 9E9]];
palettpos := Offs (palettpos, (row-1)*distance, (column-1)*distance, 0);
MoveL palettpos, v100, fine, tool\WObj:=wobj;
ENDPROC
A routine for picking parts from a pallet is made. Each pallet is defined as a work
object (see Figure 1). The part to be picked (row and column) and the distance
between the parts are given as input parameters.
Incrementing the row and column index is performed outside the routine.
Rows
Figure 1 The position and orientation of the pallet is specified by defining a work object.
Offs ’(’
[Point ’:=’] ’,’
[XOffset ’:=’] ’,’
[YOffset ’:=’] ’,’
[ZOffset ’:=’] ’)’
A function with a return value of the data type robtarget.
Related information
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X-axis
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Columns
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Described in:
Position data Data Types - robtarget
9-Offs-2 RAPID Reference Manual
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Y-axis
O O
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