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Pallet.CalcPos

Function

To return a position designated by the pallet target position number.

Syntax

Pallet.CalcPos(number of vertical partitions,number of horizontal partitions,pallet height,
pallet 4-corner position P1,pallet 4-corner position P2,pallet 4-corner position P3,
pallet 4-corner position P4,pallet target position number[, pallet stacking position]
[, Robot Number])

Guaranteed entry

Number of vertical partitions
Specify a number of partitions of the pallet in vertical direction by integer type data.
Number of horizontal partitions
Specify a number of partitions of the pallet in horizontal direction by integer type data.
Pallet height
Specify the height of 1 pallet step by single precision real number type data. If pallets are piled up successively, enter a positive value. If pallets successively diminish in number, enter a negative value. If the number of pallets remains unchanged, enter 0.
Pallet 4-corner position P1
Specify a pallet top position, i.e. the first position in both vertical and horizontal directions, by position type data.
Pallet 4-corner position P2
Specify a position which is the first in vertical direction but the last in horizontal direction, by position type data.
Pallet 4-corner position P3
Specify a position which is the last in vertical direction but the first in horizontal direction, by position type data.
Pallet 4-corner position P4
Specify a pallet last position, i.e. the last position in both vertical and horizontal directions, by position type data.
Pallet target position number
Specify which number the position is from the pallet top by integer type data.
Pallet stacking position
Specify which number the pallet is from the top pallet by integer type data.
Robot Number
This option is available in Ver.1.9.* or higher.
When the cooperative control function is used, specify the robot number range by integer type data. Available range is from 0 (Robot0) to 1 (Robot1). This is omittable. This should be "0" (Robot0) if it is omitted.

In this section, direction from P1 to P2 is called "Horizontal direction", direction from P1 to P3 is called "Vertical depiction"

Return value

Return a target position by position type data.

Description

A position can be acquired by specifying pallet conditions including the step number from the pallet top.

Pallet conditions are specified by the number of vertical partitions (N), the number of horizontal partitions (M), pallet height and pallet 4-corner positions (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

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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( 600, -100, 50, -180, 0, 180, 5 )

  ' Assign position indicating pallet four corner position P2 to bbb
  bbb = P( 600, 100, 50, -180, 0, 180, 5 )

  ' Assign position indicating pallet four corner position P3 to ccc
  ccc = P( 400, -100, 50, -180, 0, 180, 5 )

  ' Assign position indicating pallet four corner position P4 to ddd
  ddd = P( 400, 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

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