14.27 Command: Pallet
14.27 Command: Pallet
A pallet operation can perform a sequence of motions in a set of places given as a pattern (see
14.25). At each of the positions in the pattern, the sequence of motions will be run relative to the
pattern position.
Programming a Pallet Operation
1. Define the pattern.
2. Make a PalletSequence for picking up/placing at each single point. The sequence describes
what should be done at each pattern position.
3. Use the selector on the sequence command screen to define which of the waypoints in the
sequence should correspond to the pattern positions.
Pallet Sequence/Anchorable Sequence
In a Pallet Sequence node, the motions of the robot arm are relative to the pallet position. The
behavior of a sequence is such that the robot arm will be at the position specified by the pattern at
the Anchor Position/Pattern Point. The remaining positions will all be moved to make this fit. Do
not use the Move command inside a sequence, as it will not be relative to the anchor position.
“BeforeStart”
The optional BeforeStart sequence is run just before the operation starts. This can be used to wait
for ready signals.
CB3 II-108 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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