question

Ryosuke S avatar image
0 Likes"
Ryosuke S asked Ryosuke S commented

Palletizing in Layers with robot in specified cycle time

From the past questions in the forum, I have understand how to palletize

in layers using robot. However, I would like to palletize in 3 layers (like the picture below), placing pallet between each layers. Is that possbile?

Also I want to control the cycle time of the robot from

start point --> pick --> place --> back to original position.

The cycle time can be the sum of the whole sequence.

Is that also possible?

Thank you in advance,

FlexSim 19.0.5
robotcycle timepalletize
capture2.jpg (76.6 KiB)
palletize-in-layers.fsm (47.5 KiB)
5 |100000
Toggle Comment visibility. Current Visibility: Viewable by all users

Up to 12 attachments (including images) can be used with a maximum of 23.8 MiB each and 47.7 MiB total.

2 Answers

Braydn T avatar image
0 Likes"
Braydn T answered Ryosuke S commented

Move time is defined here.

You were close with your model. The number of items to pack is defined in the number of times you run the subflow. Make sure to not release the resource before finishing the process.

pallet-example.fsm


robot.png (22.9 KiB)
pallet-example.fsm (50.2 KiB)
· 1
5 |100000
Toggle Comment visibility. Current Visibility: Viewable by all users

Up to 12 attachments (including images) can be used with a maximum of 23.8 MiB each and 47.7 MiB total.

Ryosuke S avatar image Ryosuke S commented ·

Hello @Braydn T

Thank you so much!

This is great!

0 Likes 0 ·
Braydn T avatar image
0 Likes"
Braydn T answered Ryosuke S commented

@Ryosuke S

Yes, this is possible. It is easiest using Process Flow. You pack the first pallet normally. Then you can either pack the second layer and load it into the first pallet, or you can maintain a reference to the second pallet, load it as a subnode into the first pallet, and then pack into the the second pallet. It becomes a sort of tree structure, with the first pallet being the root, its boxes and the second pallet as children, etc.

You can define the move time in the robots settings, in the first tab under the drop down Define Move Time.

· 1
5 |100000
Toggle Comment visibility. Current Visibility: Viewable by all users

Up to 12 attachments (including images) can be used with a maximum of 23.8 MiB each and 47.7 MiB total.

Ryosuke S avatar image Ryosuke S commented ·

Hello Braydn,

Thank you very much for your reply and help.

First, I understood about the robot Move time. I'm rather new to this software and couldn't find the parameter.

About the palletizing using ProcessFlow, I'm not sure if I understand you clearly. (I mean how to implement using process flow.)

In the attached sample, where is it defined how many workpiece the robot to pick and place? For example, I would like to put just one red pallet then four green box.

Thank you in advance,

Ryosuke @Braydn T

palletize-in-layers1.fsm

0 Likes 0 ·
palletize-in-layers1.fsm (47.1 KiB)