Simple Pallet Workcell Example Overview
The following procedures provide a procedure for creating a PalletPRO workcell. The example assumes that you have started PalletPRO and that you have no active workcell in the workspace of PalletPRO.
When complete your workcell should contain the following entities:
• An M-410iB/160 robot with end of arm tooling – vacuum – double case.
• 2 infeeds for conveying boxes
• 2 pallets for stacking boxes
This workcell is built for you and is available in Directory: <install
directory>\PRO\PalletPRO\Example Workcells\Workcell Example\ Workcell Example.
Install directory is typically C:\Program Files\FANUC Initial state of PalletPRO:
• PalletPRO is running with no workcell defined
• The Process Navigator window is open
Simple Pallet Workcell Step 1: Creating a new workcell Simple Pallet Workcell Step 1: Creating a new workcell
1. Select Start New Cell from the Process Navigator . The workcell wizard is opened
2. A step is shown that allows selection of the process to perform Select PalletPRO and press Next
3. A dialog is shown that presents current existing workcells, and a field to enter a new workcell name. Enter a name for your new cell, and press Next. (for this example use the workcell name "PalletPRO Example Workcell".
4. The next step shows a list of supported robots. For this example, select
M-410iB/160, and press Next.
5. If multiple controller versions exist, the next step shows Virtual robot versions available. Select the latest version.
6. The next step shows robots and positioners for additional motion groups. Select nothing and press next.
7. The next step shows controller options that can be loaded. Ensure that PalletTool Turbo is selected and press next
8. A summary page is shown that displays how the virtual robot will be loaded 9. Press Finish
PalletPRO will start a Virtual Robot and then create a 3D virtual world with a robot.
At this point the robot can be jogged on the screen
Resulting state: You should now have a new workcell with a robot. The workcell has a robot, a single pallet, and an infeed. The 3D CHUIWorld view can be viewed and modified.
Simple Pallet Workcell Step 2: Editing the robot and pallet system properties
Editing the robot and pallet system properties
The robot’s properties can be modified. You can move the robot around the workcell and set other properties for the robot and pallet system.
1. Select Setup Pallet System on the Process Navigator .
From this page you can define how the pallet system should operate. For this example you will use the PalletPRO defaults.
2. Select the General Tab.
3. Set the Lock all location values checkbox on the property page to ensure that the robot base can not be moved in the workcell. Press Apply.
Resulting state:
• A robot should be in your workcell
• The Lock all location values option box should be checked on the Robot / General Property Page
Note: The pallet system tab provides many options to change the operation of the pallet workcell. The ability to change how the workcell and robot process pallets and multiple infeed systems is provided. For this example, the defaults are used.
Simple Pallet Workcell Step 3: Setup Palletizing Gripper / EOAT
In this step you will setup the palletizing gripper on the robot. PalletPRO starts your workcell with a default vacuum gripper. You may change the gripper CAD on the end of arm.
For this example we use the default gripper.
1. Select Setup Gripper from the Process Navigator The End of arm tooling property page should open.
There are two tabs on the EOAT property page. The General tab and the Palletizing tab.
2. Select the Palletizing tab
3. Change the Gripper Type to be edited to Vacuum – Double for this example.
4. Select the General Tab
5. Set the Lock all location values checkbox on the property page to ensure that the tooling can not be moved from the robot.
6. Press Apply or OK to make the changes take effect
Resulting state:
The robot defined with a double vacuum gripper and has been locked to the end of arm.
The default Pallet Station and Infeed are also present.
Simple Pallet Workcell Step 4: Adding and working with pallet stations
PalletPRO includes a default pallet station when it creates a workcell. This example workcell has 2 infeeds and 2 pallets. In order to balance the workcell, we will place the objects symmetrically in front of the robot.
In this step you will modify the location of the default pallet station, and add and locate a new pallet station.
Modify the default location of the pallet station
1. Select PalletStation1 in the workcell, and open its property page
When you select a pallet station, you see a black arrow on a red box on the pallet. This is the origin teach plate that PalletTool / PalletPRO use. This will be discussed later.
We will re-locate pallet station 1. Objects can be moved in the workcell.
2. Direct enter the new location for the pallet station. Enter the values 440, -2100, 24, 0, 0, 0 into the location field on the Pallet Stations General Property tab, and press Apply to make the change take effect.
The pallet should now be in a new location.
3. Set the Lock all location values checkbox on the property page to ensure that the pallet station can not be moved in the workcell
4. Press OK or Apply to make the changes take effect.
Add a pallet station
1. From the process navigator select "Add a Pallet Station".
NOTE: you can also add a new pallet station using the Cell Browser
A new pallet station is entered in the workcell and needs to be located correctly.
2. Direct enter the new location for the pallet station. Enter the values 440, 1300, 24, 0, 0, 0 into the location field on the Pallet Stations General Property tab, and press Apply to make the change take effect.
The pallet should now be in a new location.
3. Set the Lock all location values checkbox on the property page to ensure that the pallet station can not be moved in the workcell
4. Press OK or Apply to make the changes take effect.
Resulting State:
You should now have 2 pallet stations and a single infeed in your workcell.
Simple Pallet Workcell Step 5: Adding and working with infeed stations
In this step you work with the properties for the default infeed station and add a second infeed station. You need to define infeed properties that define how units are delivered on the infeed, and transit delay times. PalletPRO attempts to properly configure IO for the infeed.
Modify the location of the default infeed station
1. Select Infeed 1 in the workcell and open its property page.
When you select an infeed station, you see a black arrow on a red box on the infeed station. This is the origin teach plate that PalletTool / PalletPRO use. This will be discussed later.
We will re-locate pallet station 1. Objects can be moved in the workcell.
2. Direct enter the new location for the infeed station. Enter the values 1100, -700, 750, 0, 0, 0 into the location field on the Infeed Stations General Property tab, and press Apply to make the change take effect.
The infeed station should now be in a new location.
3. Set the Lock all location values checkbox on the property page to ensure that the infeed can not be moved in the workcell
4. Press OK or Apply to make the changes take effect.
Add an infeed station
1. Select Add an Infeed Station from the Process Navigator.
NOTE: you can also add a new infeed station from the Cell Browser.
A second infeed is added to the cell.
2. Direct enter the new location for the infeed station. Enter the values 1100, 100, 750, 0, 0, 0 into the location field on the Infeed Stations General Property tab, and press Apply to make the change take effect.
The infeed station should now be in a new location.
3. Set the Lock all location values checkbox on the property page to ensure that the infeed can not be moved in the workcell
4. Press OK or Apply to make the changes take effect.
Resulting State
You should now have 2 pallets and 2 infeeds in your workcell.
Simple Pallet Workcell Step 6: Adding and working with slip sheet dispensers
In this step, you add a slip sheet dispenser to your workcell.
Add a slip sheet dispenser
1. Select Add a Slip Sheet Dispenser from the Process Navigator.
NOTE: you can also add a new slip sheet dispenser from the Cell Browser.
A slip sheet dispenser is added to the cell.
2. Direct enter the new location for the slip sheet dispenser. Enter the values 675, -1300, 0, 0, 0, 0 into the location field on the Slip Sheet Dispenser's General Property tab, and press Apply to make the change take effect.
The slip sheet dispenser should now be in a new location.
3. Set the Lock all location values checkbox on the property page to ensure that the slip sheet dispenser can not be moved in the workcell
4. Press OK or Apply to make the changes take effect.
Resulting State:
You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The slip sheet pick up positions are automatically set by PalletPRO.
Simple Pallet Workcell Step 7: Modifying a pallet stations process properties
In this step, you change the pallet orientation / origin position for pallet station 2.
Modifying a pallets orientation / origin for the palletizing process.
1. Select PalletStation2 in the workcell, and open its property page 2. Select the Pallet Tab.
3. Select the length on width picture () in the Teach Aid Frame and press Apply. This moves the origin for the palletizing process to a different corner of the station. Unit Loads are process on a pallet as defined by this origin. The build will start from this origin.
4. Select OK or Apply to accept the changes.
Resulting State:
You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The origin of pallet 2 has been switched to the outside corner which means the unit loads will build from this corner.
Simple Pallet Workcell Step 8: Modifying an infeed stations process properties
In this step, you change the Infeed orientation / origin position for infeed station 2.
Modifying a infeeds orientation / origin for the palletizing process.
1. Select Infeed 2 in the workcell, and open its property page 2. Select the Infeed Tab.
3. Select the length on width picture () in the Teach Aid Frame and press Apply. This moves the origin for the palletizing process to a different corner of the station. Unit Loads are process on a infeed as defined by this origin.
4. Select OK or Apply to accept the changes.
Resulting State:
You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. The origin of infeed 2 has been switched to the opposite corner which means the units will feed on this side of the infeed.
Simple Pallet Workcell Step 9: Editing a unit load and adding a new unit load
PalletPRO initializes with a unit load already existing in your workcell. In this example, you will modify the default unit load and add a new unit load. Parameters will be changed on both unit loads so that you can become more familiar with the editing of a unit load.
Edit an existing unit load
1. Select unit load UL001-Sample Product from the cell browser The unit load's property page will open.
Note:when the page opens, you will see the unit load you are working on as configured shown on pallet 1 in the 3D world. As changes are made in the property pages, the pallet unit load in the 3D world is updated when you press Apply.
2. On the Enter dimensions tab: change the Unit dimensions width value to 300.
Remember, you must press Apply to have the change take effect.
3. On the Select Pattern Tab change the pattern to Optimal and press Apply.
4. Press the Palletizing Parameters button
This takes you to the property page where you modify the palletizing process. Layer configuration and optimal path are two such processing parameters you can modify.
5. Change the layers field to 3, and press Apply.
6. In the left center of the property page a graphic shows Layer configurations. Right mouse click on the portion of the graphic that shows "Layer 1: Normal". A popup menu is shown. "Select Slip Sheet Above" from the list. Press Apply.
A slip sheet is placed in the graphic, and on the pallet in the 3D world
7. In the Process Parameters frame select Double Case from the drop down list for Grippers, and press OK
The unit load property pages should close..
You have modified unit load 1.
Add a Unit Load
In this procedure, a new unit load is created. A double gripper is defined, and the Layer picking is manually modified. You manually modify picking configuration to optimize system efficiency. A double case gripper can pick and place multiple units. By default, PalletPRO configures the unit load for multiple unit picks and single unit placements. The unit load created will be modified to place multiple units.
1. Select Add Unit Load from the Setup Unitloads category on the Process Navigator.
A new unit load is created and the property page is shown. The defaults for dimensions and pattern are used.
2. PalletPRO allows you to input a "skin" to a unit. A "skin" is an image file that is placed on each face of a unit. Press the folder button to the right of the Skin Image File: field. Select <install directory>\PRO\PalletPRO\Example Workcells\Workcell Example\frna_logo.jpg. Install directory is typically C:\Program Files\FANUC.
Press Apply. Your unit load shown in the 3D world will now have a new "skin" attached on each unit.
3. Select the Palletizing Parameters button to open the property page for processing parameters.
It is on this page that we modify the gripper type and Layer cycle definition.
4. In the Process Parameters frame select Double Case from the drop down list for Grippers, and press Apply.
The normal layers cycles frame grid changes to reflect a double case gripper.
5. In the Normal Layers cycle frame grid on the Configure Cycles tab we will modify the Group column to configure simultaneous placement of units.
For each row in the grid, you modify how boxes are presented on the infeed, and how the robot places units. Modify the grid to have the following entries.
Cycle Infeed Pick Orientation 1st drop Group 2nd 1 Length on Length 1 & And 2
2 Width on Length 3 & And 4 3 Width on Length 5
.
6. When you have completed editing the grid, press OK to finish the editing of this unit
load.
Resulting State:
You now have a complete cell with 2 pallet stations, 2 infeed stations, and a slip sheet dispenser. 2 unit loads are defined.
Simple Pallet Workcell Step 10: Running a production simulation
Your workcell is now complete, and we can run a simulation of the palletizing process.
Running the simulation of the palletizing process.
1. Select Run Panel from the Run Production category of the Process Navigator.
The PalletPRO Run Panel dialog is opened.
2. Make sure the Refresh Display option is checked. Press Run.
The Simulation Cycle Start dialog is opened.
3. Ensure that the following entries are made in the table.
Line #1 – UL001 – Sample Product, Pick = Infeed1, Place – PalletStation1 Line #2 – UL002 – Sample Product, Pick = Infeed2, Place – PalletStation2 Press Start
The Production Data display box is opened and the workcell starts palletizing.