How to Create a Pallet (Peripheral / Feeder)

Tap on Workcell Manager

Servo Must On for Workcell Manager Selectable

Tap on the + icon

Select Feeder and choose the type of grid

Then tap on Select

Set the number of rows and columns

Name the pallet

Select the Pattern

Teach the three reference poses (go to the next Step)

Teach the three corners (1, 2 and 3) of the pallet.

To teach points 1, 2, and 3 Tap on Get Pose once the tool is in the corresponding position.

Tap on Jog and then go to the Set tab

Select (in this case base in our TCP) Z Tool Axis

Tap and hold Parallel Axis

You can change Up or Down depending on the tool orientation configuration.

Confirm to save the changes

Enable the pallet

Tap on Variable and Add New Variable

add a name and a value, then confirm

Add a CustomCode command

Tap on single line

Select your System or Global variable

The Global Variable resets when the program stops

The System variable has to be reset manually. eg above MainSub (it only runs once) System_part=0

Type System_xxx=System_xxx+1

E.g. System_part=System_part+1or Global_Part=Global_Part+1

Tap on OK and Confirm

Every time the cycle repeats the counter value will increment +1