Simple Pallet Example

HMI Panel File

Robot Program File

# pick and place simulation on two pallets
picking = False
placing = False
buffering = False

pick_status = [True, True, True, True, True, True, True, True, True]
place_status = [False, False, False, False, False, False, False, False, False]

# positions on the pallets
pick_positions = [p[0.393, -0.755, 0.391, -2.22, 2.22, 0.00],
                  p[-0.177, -0.553, 0.391, -0.00, 3.14, 0.00],
                  p[-0.177, -0.956, 0.391, -0.00, 3.14, 0.00],
                  p[0.195, -0.553, -0.010, -0.00, 3.14, 0.00],
                  p[0.195, -0.956, -0.010, -0.00, 3.14, 0.00],
                  p[-0.375, -0.754, -0.010, -2.22, 2.22, 0.00],
                  p[-0.164, -0.956, -0.412, -0.00, 3.14, -0.00],
                  p[-0.164, -0.568, -0.412, -0.00, 3.14, 0.00],
                  p[0.394, -0.766, -0.412, -2.22, 2.22, 0.00]]


place_positions = [p[0.393, 0.755, -0.409, -2.22, 2.22, -0.00],
                  p[-0.177, 0.553, -0.409, -0.00, 3.14, 0.00],
                  p[-0.177, 0.956, -0.409, -0.00, 3.14, 0.00],
                  p[0.195, 0.553, -0.010, -0.00, 3.14, 0.00],
                  p[0.195, 0.956, -0.010, -0.00, 3.14, 0.00],
                  p[-0.375, 0.754, -0.010, -2.22, 2.22, 0.00],
                  p[-0.164, 0.956, 0.388, -0.00, 3.14, -0.00],
                  p[-0.164, 0.568, 0.388, -0.00, 3.14, 0.00],
                  p[0.394, 0.766, 0.388, -2.22, 2.22, 0.00]]

# motion functions
def pick():
    picking = True
    placing = False
    buffering = False
    pick_status[i] = False

    movej(pose_trans(pick_positions[i], p[0, 0, -0.6, 0, 0, 0]))
    movel(pick_positions[i])
    movel(pose_trans(pick_positions[i], p[0, 0, -0.6, 0, 0, 0]))
end

def place():
    picking = False
    placing = True
    buffering = False
    place_status[i] = True

    movej(pose_trans(place_positions[i], p[0, 0, -0.5, 0, 0, 0]))
    movel(place_positions[i])
    movel(pose_trans(place_positions[i], p[0, 0, -0.5, 0, 0, 0]))
end

def buffer():
    picking = False
    placing = False
    buffering = True
    movej([0.08, -1.86, -1.40, -1.45, 1.57, 0.08])
end

def home():
    movej([0.08, -1.86, -1.40, -1.45, 1.57, 0.08])
end

# main loop program
i = 0
while i < 9:
    home()
    pick()
    buffer()
    place()
    i = i + 1
end