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     Fics-III/IV Palletizing Programming
     
  •  
    		•  Introduction
     
  •  
    		•  Features
     
  •  
    		•  Functionality
     
  •  
    		•  The PSET Command
     
  •  
    		•  The PALT Command
     
  •  
    		•  The PCLR Command
     
  •  
    		•  Application Example for a Palletizing Operation
         
     
  •  
    		•  Introduction
       

    Dynaservo recognizes the importance of palletizing operations in the packaging and material handling industries. To assist designers in the development of efficient packaging and material handling systems, Dynaservo integrated palletizing functions directly into its motion control software. Dynaservo user-friendly and powerful Fics-III/IV motion control software enables users to create 3-dimensional palletizing pattern programs for optimal pallet arrangements, thus increasing production throughput and minimizing shipping costs.
         
     
  •  
    		•  Features
        The main features of Dynaservo palletizing software are its universality and simplicity. It can be utilized on any Dynaservo motion control system, and only three commands are needed to create a functional palletizing pattern program. User may select desired palletizing pattern from a number of standard pallet matrixes. Once created, the palletizing pattern program becomes a module of a main application program and is executed every time the main program calls it.
         
     
  •  
    		•  Functionality
        The three Fics-III/IV commands used to create a palletizing pattern program are:
    Command Functional Description
    PSET Initialize palletizing.
    Select palletizing pattern from standard pallet matrixes.
    Set initial pallet point to "1".
    PALT Calculate the position data of the next consecutive pallet point and enter this data into position data memory.
    PCLR Reset pallet point to "1".

         
     
  •  
    		•  The PSET Command
        To develop a palletizing pattern program user has to define a pallet using the PSET command.
    The PSET command format and parameters are as follows:

    PSET pn TYPE=t X=nx Y=ny Z=nz
      PDpp MONmm A=aa B=bb C=cc D=dd

    Parameters:

    Parameter Functional Descriptions
    pn Specify pallet number. Fics-III/IV software allows user to create 10 different pallets.
    t Specify pallet pattern selected from standard pallet matrixes.
    nx Specify total number of intervals between pallet points along the X-axis (Max. 255).
    ny Specify total number of intervals between pallet points along the Y-axis (Max. 255).
    nz Specify total number of intervals between pallet points along the Z-axis (Max. 255).
    pp Specify point data number (memory location) where to save the calculated position data of the next consecutive pallet point (Value: 1-99).
    mm Specify the monitor variable used to monitor palletizing operation status (Value: 1-79).
    aa Specify point data number of the initial pallet point, point "Paa" in Fig.1 (Values: 1-99).
    bb Specify point data number of the final pallet point along the X-axis, point "Pbb" in Fig.1 (Value: 1-99).
    cc Specify point data number of the final pallet point along the Y-axis, point "Pcc" in Fig.1 (Value: 1-99).
    dd Specify point data number of the final pallet point along the Z-axis, point "Pdd" in Fig.1 (Value: 1-99).

    To properly define a pallet it is necessary to specify the corner points of the pallet's envelope. (Points Paa, Pbb, Pcc and Pdd in Fig.1)

    Parameter "pp" allows user to select any point data number (memory location) for the storage of calculated position data for the next consecutive pallet point.

    Parameter "mm" enables user to monitor the progress of the palletizing operation. It specifies the number of the monitor variable, which stores the value for the next consecutive pallet point. When PSET or PCLR command is executed the value in the MONmm is set to "1". Each time the PALT command is executed the value in MONmm is incremented by "1". When palletizing operation reaches the final pallet point the value in MONmm is set to "0".
    The main application program continuously monitors palletizing operation. If the palletizing operation is stopped due to power supply interruption or "stop" input signal, it will be restarted from the stoppage point, maintaining the palletizing pattern sequence.

    Pallet Patterns:

         
     
  •  
    		•  The PALT Command
        The PALT command format and parameters are as follows:

    PALT pn

    Parameters:

    Parameter Functional Descriptions
    pn Specify pallet number.

    On execution of the PALT command the system calculates the position of the next consecutive pallet point for the "pn" pallet, and stores the position data in the point data number (memory location) "pp" defined in the PSET command. The pallet point value stored in MONmm is incremented by "1". When the final pallet point is reached the value in MONmm is set to "0".
         
     
  •  
    		•  The PCLR Command
        The PCLR command format and parameters are as follows:

    PCLR pn

    Parameters:

    Parameter Functional Descriptions
    pn Specify pallet number.

    On execution of the PCLR command the system resets the pallet point number to "1" for the "pn" pallet. This function is very helpful in a situation when it is necessary to restart palletizing operation from the beginning after power interruption. If "pn" pallet is not defined an error message "PALLET NO. ERROR" is displayed.
         
     
  •  
    		•  Application Example for a Palletizing Operation
        A robot is employed to pick objects from a conveyor's belt and stack them in a pattern creating a 3-dimensional pallet as shown in Fig.1. Parameters for pallet initialization have been defined as follows:
      1. The pallet number is specified as 01.
      2. The selected pallet pattern is specified as G81.
      3. The position data for an object on the conveyor's belt is stored in PD01.
      4. Robot's gripper is activated by the digital output signal DO:07-1.
      5. The four corners of the pallet envelope are specified as PD02 (Paa), PD03 (Pbb), PD04 (Pcc) and PD05 (Pdd).
      6. The next consecutive pallet point position calculated by PALT command is stored in PD10.
      7. The monitor variable MON33 is used to store current pallet point value.
    The 3-dimensional palletizing pattern program is written as follows:

    Program Step Program Code Remarks
    N=0001 PSET 01 TYPE=G81 X=4 Y=4 Z=3
             PD10 MON33 A=2 B=3 C=4 D=5     		Initialize pallet.
    N=0002 POINT 01 (XYZ) 0% Move to PD01.
    N=0003 OUT DO:07-1=ON Pick up object.
    N=0004 PALT 01 Calculate next consecutive pallet point position
    and store position data in PD10.
    N=0005 POINT 10 (XYZ) 0% Move to PD10.
    N=0006 OUT DO:07-1=OFF Place object.
    N=0007 IF MON33<>0 GOTO 0002 Repeat until the pallet is complete.
    N=0008 END