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ID : 7382

MC_PalletTargetPosition

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

Graphic expression AOI category
Non motion

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.
PalletTargetPosition eRC_Position For output
Target position of the pallet

Input Variable

Variable name Data type Valid range
Execute Boolean
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
VerticalSplit Integer 1 or larger
Vertical division
Specify the number of divisions on the P1 to P3 direction (N).
HorizontalSplit Integer 1 or larger
Horizontal division
Specify the number of divisions on the P1 to P2 direction (M).
PalletHeights Real -
Height of one stack
Specify the height of one stack. 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.
PalletCornersP1No Integer 0 or larger
Pallet 4-corner position P1
Specify the first position in the four corners.
PalletCornersP2No Integer 0 or larger
Pallet 4-corner position P2
Specify the second position in the four corners.
PalletCornersP3No Integer 0 or larger
Pallet 4-corner position P3
Specify the third position in the four corners.
PalletCornersP4No Integer 0 or larger
Pallet 4-corner position P4
Specify the fourth position in the four corners.
PalletTargetPosNo Integer 1 - ([Vertical division]*[Horizontal division])
Pallet target position number
Specify the target position number that is counted from the first position of the stack.
StackedNo Integer 1 or larger
Stack count
Specify the stack count from the first stack.

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
Busy Boolean
Processing status of this AOI
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function 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.

Attention

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ID : 7382

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