Write a Programme using VAL for following weld to be made

Question

Write a Programme using VAL for palletizing operation as shown in fig. The

robot must pick up parts from an incoming conveyor & deposit them on to pallet.

The pallet has four rows that are 50 mm apart & six columns that are 40 mm apart.

The object to be picked upare about 25 mm tall.

Answer 1

As an AI language model, I am not able to create a physical program to operate a robot, but I can provide you with an example program in VAL (Visual Assembly Language) for palletizing operation. This program assumes that the robot has a vacuum gripper for picking up the parts.

; Initialize variables

pallet_row = 1

pallet_col = 1

part_height = 25

conveyor_speed = 1000 ; in mm/s

; Wait for parts to arrive on conveyor

WAIT UNTIL (SENSOR conveyor_sensor = ON)

; Loop to pick up parts and place them on pallet

REPEAT

 ; Move to part on conveyor

 MOVE conveyor_position

 ; Turn on vacuum gripper to pick up part

 ACTIVATE vacuum_gripper

 WAIT 1 ; wait for part to be secured

 ; Move to pallet position and place part

 MOVE pallet_position(pallet_row, pallet_col)

 WAIT 1 ; wait for part to be placed

 ; Increment pallet column

 pallet_col = pallet_col + 1

 ; If column exceeds maximum, go to next row

 IF (pallet_col > 6) THEN

   pallet_col = 1

   pallet_row = pallet_row + 1

   ; If row exceeds maximum, reset to first row

   IF (pallet_row > 4) THEN

     pallet_row = 1

   ENDIF

 ENDIF

 ; Turn off vacuum gripper to release part

 DEACTIVATE vacuum_gripper

UNTIL (SENSOR stop_button = ON) ; repeat until stop button is pressed

In this program, the robot waits for parts to arrive on the conveyor, then picks up each part using the vacuum gripper and places it on the pallet in the next available position. The program keeps track of the current pallet row and column and increments them after each part is placed. If the column exceeds the maximum number of columns (6), the program goes to the next row. If the row exceeds the maximum number of rows (4), the program resets to the first row. The program repeats until the stop button is pressed.

Note that this is a basic example program and may need to be modified for the specific robot and palletizing operation you have in mind.