Example is valid for:                                        

CB2 Software version: 1.8.16941                       
CB3 Software version: 3.1.17779                        
Note that older or newer software versions may behave differently.

This example can be used for both CB2 and for CB3.

Introduction:

1. Only 2 waypoints will be used while programming the pallet.
2. All other positions will be calculated in offsets in calculation Folder.
3. All offsets will be calculated in terms of box dimensions, if we change the box dimensions entire pallet will shift automatically and should be able to adjust all positions proportionally.
4. No need to do teaching for Left & right pallet individually. Program itself should take care of both the pallets

Description of Variable used in Program:

PALLET EXAMPLE:

Modification in Calculation Folder:

       box1≔Place_ref

       box1_up≔pose_trans(box1,dd)

       box2≔pose_trans(box1,p[-(box_l+box_w+gap),0,0,0,0,d2r(90)])

       box2_up≔pose_trans(box2,dd)

       box3≔pose_trans(box2,p[0,-(box_l+box_w+gap),0,0,0,d2r(90)])

       box3_up≔pose_trans(box3,dd)

       box4≔pose_trans(box3,p[(box_l+box_w+gap),0,0,0,0,d2r(90)])

       box4_up≔pose_trans(box4,dd)

       box5≔pose_trans(box1,p[-(box_l-box_w),0,-box_h,0,0,d2r(90)])

       box5_up≔pose_trans(box5,dd)

       box6≔pose_trans(box2,p[0,-(box_l-box_w),-box_h,0,0,d2r(90)])

       box6_up≔pose_trans(box6,dd)

       box7≔pose_trans(box3,p[(box_l-box_w),0,-box_h,0,0,d2r(90)])

       box7_up≔pose_trans(box7,dd)

       box8≔pose_trans(box4,p[0,(box_l-box_w),-box_h,0,0,d2r(90)])

       box8_up≔pose_trans(box8,dd)

This Sample program will be much simple and it can be developed offline. For more info on Pose_trans. Please refer to Script manual on download section