Pallet Teaching
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Pallet Teaching: Click the button to switch to the pallet teaching interface. The left side of this page is the pallet teaching editing area, where you can directly set parameters such as the pallet Name, origin number, row teaching number, column teaching number, row count, and column count. Use buttons such as "Save" and "Pallet Move" to complete the recording, management, and movement of point locations. The list on the right synchronously displays detailed information of each pallet.
Pallet Information
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The selected area displays the detailed information of each pallet in a list-style table, including pallet name, origin point number, row teaching point number, column teaching point number, row count, and other parameters, facilitating users to intuitively view and manage the spatial position and configuration information of pallets.
Point Location Editing
Click the pallet information on the right, select a pallet, and you can edit the pallet.
①Pallet Editing:
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Origin point number: Defines the point location ID of the origin in the pallet coordinate system.
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Row teaching point number: Defines the point location ID for the row direction and length of the pallet.
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Column teaching point number: Defines the point location ID for the column direction and width of the pallet.
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Row count: Number of grid cells in the row direction of the pallet.
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Column count: Number of grid cells in the column direction of the pallet.
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Layer count: Number of layers in the pallet (Z-axis height direction).
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Layer spacing: The vertical distance between two adjacent layers.
②Clear: Reset the origin number, row teaching point number, column teaching point number, row count, column count, layer count, and layer spacing of the selected pallet.
③Save: After editing the pallet, you must click “Save” to store the modified pallet information.
④Pallet movement: Control the robot to move to a specified position of the designated pallet.
⑤Query points: Retrieve the coordinate values (X, Y, Z, R) of the pallet origin, row teaching point, and column teaching point. This function facilitates quick lookup and selection of the required origin, row teaching point, and column teaching point during pallet editing.
Query Points
①Display the Cartesian coordinates of the origin for the selected pallet.
②Display the Cartesian coordinates of the row teaching point for the selected pallet, which is the center position of the farthest pallet horizontally.
③Display the Cartesian coordinates of the row teaching point for the selected pallet, which is the center position of the farthest pallet vertically.
③View the point location diagram
⑤Pallet movement: Control the robot to move to a specified position of the designated pallet.
Point Location Diagram
Pallet Movement
Click the point location information on the right, select a point location, and move to the corresponding pallet position, which is the center point of the pallet.
①Enter the designated position of the target pallet, and use row, column, and layer to determine the location.
②Lift Z-axis: Choose whether to lift the Z-axis during movement (door-shaped trajectory).
③Set manual control speed: Adjust the robot's jogging or movement speed in real-time via the slider.
④Move Joint: The robot will move to the target point with the most direct joint interpolation method.
⑤Move Linear: The robot will ensure that the Tool Center Point (TCP) moves along an absolute straight-line trajectory to the target point.
⑥Stop Motion: Immediately halt all current motion commands of the robot and enter a paused state.
Manual positioning is not allowed in the automatic mode.