PalletSolver Via-Points

Purpose of Via-Points

The standard robot motion between stations consist of radial motion. In some irregular shaped cell layouts, this may cause collision with fencing or some other components inside the cell. Via-points can be defined to modify the path of the robot between stations.

When a via-point is defined between stations, the robot path will be modified so that the package Grip TCP of the gripper passes by the via-point's X, Y coordinates with the set Rz rotation. The Z coordinate will be the same or above the defined via-point. 

Via-Points and Movement between Stations

A predefined job called INIT_STATION_CLOCK_ORDER calculates the order of robot path planning through stations and via-points based on the X, Y values of the station's user frame or via-point. It sets the order in the variables B950-B996. In the figure above, the ViaPoint's clock order would have to be a number in between the clock order of the infeed station and build station.

Note: There is a possibility of the clock order being incorrect when stations are almost in line. In those cases, manually setting the correct stations clock order in B950 to B996 is necessary. This can be done either at the beginning of USER_CONTROL_TASK.JBI or by overwriting the INIT_STATION_CLOCK_ORDER. 

Defining Via-Points in USER_ADJUSTMENT.JBI

Up to 6 via-points can be defined in the USER_ADJUSTMENT job. Via-points are active when the X or Y value of a via-point is non-zero. Via points define the robot base frame (X, Y, Z, Rz) using the package Grip TCP. To set the appropriate values, set the current tool to the package grip TCP and move the robot in the desired position. Display the robot current position in the Base frame and record the values. Then go to the USER_ADJUSTMENT job and modify the values set for the via point to those recorded. All the digits should be entered but without the decimal points because the values of the SETE instructions are in microns (0.001 mm) or 0.0001 degrees.