Hyundai HI4 operation manual Palpu Command, PAL Command

11. Robot Language Explanation

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11.3.15 PALPU Command

Description	Palletizing picking up shift (M95)
Syntax	PALPU P=<Pallet No>,SL=<Start level>,SH=<shift amount>
	Pallet No	Pallet number	1∼16
Parameter	Start level	the level to pick up (1-base)	1∼100
	Shift amount	shift amount when picking up	-2000.0∼
			2000.0
Example	PALEND P=1,SL=4,SH=1000

Introduction

It is a function to shift the position where robot picks up the workpiece after gripping. Robot can take a optimum path according to the change of loading height by using this function.

Picking up shift

Destination point

Pickup point

Note

(1) This function must be between PAL and PALEND.

11.3.16 PAL Command

Description	Palletize (Data Input) (M96)
Syntax	PAL P=<Pallet No>, PR=<Pattern register No>, W=<Workpiece size>, L=<Workpiece
	size>, H=<Workpiece size>
	Pattern	Number	Palletize number	1∼16
	Pattern	Number	Palletize pattern register number	1∼16
	Workpiece		width of workpiece	0.1∼
	size(W)			3000.0
	Workpiece		length of workpiece	0.1∼
	size(L)			3000.0
	Workpiece		height of workpiece	0.1∼
	size(H)			3000.0
example	PAL PAL	P=1, PR=1, W=500, L=300, H=250.5

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