
IV – Starting–up
S900–II USER MANUAL
Version 2.1 |–>
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01T01518_1
25.11.99
Teaching a stacking sequence
A stacking sequence enables the parts manipulated by the robot to be released in a certain order, in
X rows, in Y columns and Z layers. The data needed :
the number of parts released per axis,
the gap separating two parts on an axis.
To select the axis
To enter the value
Value sign
To confirm
To cancel data and
return to point teaching
...
and
PRG 03 [ BOX OF 60 PARTS
SP 41 [ OVERMOULDING K98
No. of parts X : 5 – Gap...: 12
” ” ” Y : 2 – Gap...: 20
” ” ” Z : 3 – Gap...: 10
Choose with ↑ ↓
Exit by ESCAPE
Defining a stacking sequence :
10 9 8 61010
column 2 column 1
11
21
26
16
7
17
27
45 321
Gap
Z = 10
X
Y
Z
layer 1
layer 2
row 2
row 1
20
30
19
29
18
28
Gap
X = 90
Gap
Y = 20
Figure 22 : Part stacking
Once the stacking heading has been entered, you must continue teaching the points.
Note : The position of the first part of a stacking sequence must be taught taking into account the
defined gaps.
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