ID : 3634

Pallet.CalcPos

Function

Specify the pallet conditions, stack count and the target position number to retrieve the desired position.

Syntax

Pallet.CalcPos(P1_P3 divisions,P1_P2 divisions,Height of one stack,pallet 4-corner position P1,pallet 4-corner position P2,pallet 4-corner position P3,pallet 4-corner position P4,pallet target position number[, Stack count][, Robot Number])

Guaranteed Entry

P1_P3 divisions: Specify the number of divisions on the P1-P3 direction (N) by integer type data.
P1_P2 divisions: Specify the number of divisions on the P1-P2 direction (M) by integer type data.
Height of one stack: Specify the height of one stack by single precision real number type data. The position of the height of pallet is calculated by [Height of one stack]*([Stack count]-1). If pallets are piled up successively, enter a positive value. If pallets successively diminish in number, enter a negative value.
When you use the [Stack count] with 1 always, this value is not available. Enter 0.
Pallet 4-corner position P1: Specify the first position in the four corners by position type data.
Pallet 4-corner position P2: Specify the second position in the four corners by position type data.
Pallet 4-corner position P3: Specify the third position in the four corners by position type data.
Pallet 4-corner position P4: Specify the fourth position in the four corners by position type data.
Pallet target position number: Specify the target position number that is counted from the first position of the stack by integer type data.
Stack count: Specify the stack count from the first stack by integer type data.
This should be "1" if this is omitted.
Robot Number: Specify "0" for this entry.
This entry is omittable. This should be "0" if this is omitted.

Return Value

Return a target position by position type data.

Description

Specify the pallet conditions, stack count and the target position number to retrieve the desired position.
Pallet conditions to specify are; P1-P3 division (N), P1-P2 division (M), stack height, and pallet four corners (P1 to P4).
Pallet position numbers are assigned from P1 to P2 and after P2, subsequent numbers are assigned from P1 plus 1 to P3 horizontally as indicated in the figure.

Related Terms

Attention

Example

'!TITLE "Acquiring Coordinate Position of Pallet Target Position Number"
' Acquire coordinate position designated by pallet target position number and display it on 
the message output window
Sub Sample_PalletCalcPos

  Dim aaa As Position
  Dim bbb As Position
  Dim ccc As Position
  Dim ddd As Position
  Dim eee As Position
  Dim fff As Position
  Dim ggg As Position

  ' Assign position indicating pallet four corner position P1 to aaa
  aaa = P( 300, -100, 50, -180, 0, 180, 5 )

  ' Assign position indicating pallet four corner position P2 to bbb
  bbb = P( 300, 100, 50, -180, 0, 180, 5 )

  ' Assign position indicating pallet four corner position P3 to ccc
  ccc = P( 100, -100, 50, -180, 0, 180, 5 )

  ' Assign position indicating pallet four corner position P4 to ddd
  ddd = P( 100, 100, 50, -180, 0, 180, 5 )

  ' Assign coordinate position of pallet target position number 1 to eee
  eee = Pallet.CalcPos( 3, 5, 20, aaa, bbb, ccc, ddd, 1, 1 )

  ' Display coordinate position of pallet target position number 1 on the message output window
  PrintDbg eee

  ' Assign coordinate position of pallet target position number 8 to fff
  fff = Pallet.CalcPos( 3, 5, 20, aaa, bbb, ccc, ddd, 8, 1 )

  ' Display coordinate position of pallet target position number 8 on the message output window
  PrintDbg fff

  ' Assign coordinate position of pallet target position number 15 to ggg
  ggg = Pallet.CalcPos( 3, 5, 20, aaa, bbb, ccc, ddd, 15, 1 )

  ' Display coordinate position of pallet target position number 15 on the message output window
  PrintDbg ggg

End Sub

ID : 3634

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