Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

Welcome to the Course

We're excited to welcome you to the 'Fanuc Robot Training 8: How to Pick
Up Pallets and Multiple Pallets' course. Get ready to explore the intricacies
of robotic pallet handling using Fanuc robots, enhancing both your
theoretical understanding and practical skills in this specialized field.

🎓 What You'll Learn:

 Proficiency in basic and advanced pallet placement techniques.

 Expertise in managing multiple pallets and load stacks.
 Practical skills in programming Fanuc robots for pallet handling.
 Techniques for synchronizing data in pallet operations.
 Strategies for error handling and problem-solving in pallet systems.

🧠 How to Get the Most Out of This Course:

This course is structured to provide you with a comprehensive learning

experience, even without practical exercises or specific software
requirements. To maximize your learning:

1. Engage thoroughly with the course material, ensuring you

understand each concept.
2. If possible, relate the theories and strategies to real-world scenarios
or any relevant experiences you have.
3. Explore additional resources, like the Fanuc ROBOGUIDE software, to
complement your learning and get a deeper insight into practical
applications.
4. Participate actively in discussions and forums related to this course
to enhance your understanding and share knowledge.

We are committed to helping you develop your skills and knowledge in

robotic pallet management. Enjoy your learning journey!

Introduction to Pallet Placement

1.1 Introduction to Pallet Placement Techniques

In this lesson, we'll expand on our previous experience with slip sheets to
enable a Fanuc robot to pick up both single and multiple pallets.
 Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

Using tools like hooks or vacuums, we'll adjust the robot's programming for
effective pallet handling.

This includes evaluating the practicality of these methods in different

scenarios and setting a foundation for more complex pallet management
tasks in future lessons.

1.2 Understanding Pallet Placement Using TP

In this lesson, you will learn how to set up pallet placement using a physical
robot and Roboguide.

We will cover the process of enabling pallet placement on the teach

pendant, teaching specific positions for effective pallet handling, and
understanding the purpose of position registers in PalletTool Turbo II.

This includes setting up start and end search positions for pallets and
defining placement positions, providing practical skills for configuring
robotic pallet handling systems.

1.3 Basics of Pallet Stacking and IO Operations

In this lesson, you will learn to configure and adapt the "PKPALSTK"
program for robot IO to enable pallet picking with a Fanuc robot.

You'll understand how to set up input/output (IO) commands for pallet

clamps or vacuums, modify skip conditions, and manage pallet placement
and drop-off using the robot's programming interface.

This includes practical steps for customizing the robot's software to handle
pallets efficiently, tailoring the program for specific hardware setups, and
ensuring effective pallet manipulation.

Advanced Pallet Placement Strategies

2.1 Mastering Pallet Placement Positions

In this lesson, you will learn the process of teaching a Fanuc robot specific
positions for efficient pallet handling. This includes setting the robot to
'UTOOL 0', using the teach pendant to navigate and record necessary
positions like 'Pal Search Start' and 'Pal Search End', and handling pallets
physically.
 Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

You'll also learn how to toggle IO settings for picking up pallets and placing
them in desired locations, and how to test and adjust these settings in both
teach pendant mode and automatic mode.

2.2 Synchronizing Data and Loading New Stacks

In this lesson, you will learn how to update position data using the teach
pendant in Roboguide, specifically when running PalletPro, which may
overwrite your data.

The focus will be on using the upload feature to synchronize your virtual
and physical cells. Additionally, you'll understand how the robot responds
when it runs out of pallets, including handling the "Pallet Stand Empty"
message and resetting position registers to ensure safety, especially when
an operator manually loads pallets into the dispenser.

2.3 Handling Multiple Pallets

In this lesson, you will learn how to program a Fanuc robot in Roboguide for
handling multiple pallets, despite the software's limitations in adding
multiple pallet locations directly.

You'll discover how to use digital IO to select each pallet dispenser and
assign position registers for multiple pallets. The lesson focuses on
initializing, commenting, and organizing these position registers to simplify
the programming of multi-pallet placement tasks.

Programming and Station Management

3.1 Copying Slipsheet Programs

In this lesson, you will learn how to adapt existing programs for multiple
pallet handling in a Fanuc robot using Roboguide. By copying and modifying
programs from multi-slip sheet lessons, you will create and adjust new
sequences for multiple pallet placements.

The lesson covers changing specific position registers in these copied

sequences, ensuring they correspond correctly to the pallet handling tasks.

This method streamlines the programming process, allowing for the

efficient setup of multiple pallet handling operations.
 Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

3.2 Expertise in Teaching Pallet Stations

In this lesson, you will learn how to teach new positions for pallet handling
in a Fanuc robot using Roboguide, specifically for managing multiple pallets.

You'll be guided through the process of setting the robot in the correct tool
and user frames, navigating to position registers, and recording new
positions for pallet search start and end.

The lesson also covers re-initializing search parameters and setting up

different pallet placement positions, providing flexibility for handling pallets
of various sizes in your application.

3.3 Implementing Pallet Switch Conditions

In this lesson, you will learn to configure a Fanuc robot in Roboguide to

select between multiple pallets using a digital input, specifically using
"DI106" for pallet selection.

The tutorial covers editing the "PKPALSTK" program to include logic for
switching between pallets based on the digital input status.

You will learn how to insert and modify lines in the program, set conditional
statements, and call different programs depending on the pallet selection,
thus enabling the robot to handle multiple pallets efficiently.

Pallet Load Management

4.1 Fundamentals of Load Pallet

In this lesson, you will learn how to enhance the efficiency of a Fanuc robot
in Roboguide by adding a found position load function to the pallet
handling program.

This function allows the robot to begin searching for the next pallet from
the last found position, rather than starting from the initial search position
each time.

You'll learn to copy if statements and modify them for this specific purpose,
enabling the robot to operate more efficiently by reducing the search time
for each pallet.
 Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

4.2 Advanced Techniques in Pallet Loading

In this lesson, you will learn how to modify the call functions in a Fanuc
robot's program to update the 'found position' based on the selected pallet
in Roboguide.

You will be guided on how to navigate and edit the program using the teach
pendant, specifically focusing on changing call programs for different
pallets.

This includes adjusting settings for 'PAL1FOUNDPOS' and 'PAL2FOUNDPOS'

based on the input from digital input 106, enabling the robot to choose
between pallet 1 and pallet 2 during operation. The lesson concludes with a
simulating to test these changes.

Troubleshooting and Problem Solving

5.1 Error Handling in Pallet Placement

In this lesson, you will learn how to handle programming errors in

Roboguide for a Fanuc robot, particularly when the robot does not start
from the correct search position.

You'll be guided through the process of teaching and recording new

positions for 'found position' handling, ensuring the robot starts searching
from the correct location for each pallet.

The lesson includes steps to upload position registers from the teach
pendant to Roboguide, handling simulation errors, and testing the setup by
simulating different digital inputs to verify correct pallet selection and
handling.

5.2 Overcoming Common Problems in Pallet Operations

In this lesson, you will learn about common errors encountered in robotic
pallet handling and how to overcome them.

Key focus areas include ensuring pallet quality for efficient picking,
addressing vacuum leaks in suction-based picking systems, and preventing
robot crashes during pallet handling.
 Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

You'll gain insights on maintaining tools and equipment, proper positioning

and calibration of sensors, and the importance of consistent pallet loading
to avoid mishaps. The lesson emphasizes the need for quality control and
regular maintenance to ensure the smooth operation of robotic pallet
systems.

Congratulations!
You've successfully completed the course, How to Pick Up Pallets and
Multiple Pallets. This is a significant accomplishment and a testament to
your dedication and hard work. Let's take a moment to reflect on the key
concepts you've mastered:

🎓 What You Have Learned:

 Proficiency in basic and advanced pallet placement techniques.

 Expertise in managing multiple pallets and load stacks.
 Practical skills in programming Fanuc robots for pallet handling.
 Techniques for synchronizing data in pallet operations.
 Strategies for error handling and problem-solving in pallet systems.

These skills not only prepare you for current challenges in the field of
robotic pallet handling but also set a strong foundation for future learning
and professional growth.

As you continue on your learning path, we are excited to inform you that
our next course in this series will be published soon. If you're passionate
about expanding your knowledge in robotic pallet management, we highly
recommend you to enroll in the “Fanuc Robot Training 9: Advanced Pallet
Data Techniques ” course. It will provide deeper insights and advanced
techniques, taking your skills to the next level.

Upon completing this course, you will receive a Certificate of Completion, a

testament to your hard work and expertise. We encourage you to showcase
your achievement by adding it to your LinkedIn profile, as shown in this link.

Remember, we at RealPars are always here to support you in your learning

journey. If you have any questions or need assistance, please don't hesitate
to reach out to us.
 Fanuc Robot Training 8: How to Pick Up Pallets and Multiple Pallets

Once again, congratulations on this significant accomplishment, and we

look forward to seeing you in our next course. Keep up the excellent work

and continue to strive for mastery in the exciting world of robotics! 👏👏👏