Pallet Operation - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

4.1.2 Pallet operation

When carrying out operations with the workpieces neatly arranged (palletizing), or when removing work-
pieces that are neatly arranged (depalletizing), the pallet function can be used to teach only the position of
the reference workpiece, and obtain the other positions with operations.
*Command word
Command word
Def Plt
Plt
*Statement example
Statement example
Def Plt 1, P1, P2, P3, P4, 4, 3, 1 ......................................
Def Plt 2, P1, P2, P3, , 8, 5, 2...........................................
Def Plt 3, P1, P2, P3, , 5, 1, 3...........................................
(Plt1, 5) .............................................................................
(Plt1, M1) .......................................................................... Operate position in pallet No. 1 indicated with the numeric variable M1.
The relation of the position designation and a pallet pattern is shown below.
End point B
12 11
7 8
6 5
1 2
Start point End point A
Zigzag
Pallet pattern = 1 (zigzag)
4-108 MELFA-BASIC V functions
Defines the pallet to be used.
Obtains the designated position on the pallet with operations.
Diagonal point End point B
10 10
9 7
4 4
3 1
Start point
Same direction
Pallet pattern = 2 (same direction)
Explanation
Defines to operate pallet No. 1 with a start point = P1, end point A = P2, end point B = P3
and diagonal point = P4, a total of 12 work positions (quantity A = 4, quantity B = 3), and
a pallet pattern = 1(Zigzag).
Defines to operate pallet No. 2 with a start point = P1, end point A = P2, and end point B
= P3, a total of 40 work positions (quantity A = 8, quantity B = 5), and a pallet pattern = 2
(Same direction).
Define that pallet No. 3 is an arc pallet having give five work positions on an arc
designated with start point = P1, transit point = P2, end point = P3 (total three points).
Operate the 5th position on pallet No. 1.
Diagonal point
11 12
Start point
１
8 9
5 6
2 3
End point A
Explanation
Transit point
３
２
４
End point
５
Arc pallet
Pallet pattern = 3 (arc pallet)