The SCARA software is shipped without the OFST command available. The following example demonstrates a palletizing operation on the SCARA without using the OFST command.
Features of this program:
- E-stop recovery
- Code for a two-pallet system (pick from pallet, place on pallet)
- Both pallets have offsets between rows and columns of 1.5mm
- Both pallets have 6 columns and 5 rows
- The SCARA moves at 40% max velocity and 30% max acceleration
- Outputs and dwells are set up for vacuum-type end effectors