PALLETIZER_IF
Palletiser / de-palletiser placement interface: computes the next case coordinate on the pallet from the case footprint and the stacking pattern.
When to use it
Use PALLETIZER_IF when a robot or gantry palletiser places rectangular cases on a pallet in a row-and-column pattern, and the cell controller has to hand it the next X/Y placement, the case rotation, and the end of the layer and of the pallet.
Interface
The published port signature. This is the whole of what the block exposes to your program — the implementation body is not shown here and ships with the download.
Inputs
| Port | Type | Unit |
|---|---|---|
| ENABLE | BOOL | — |
| PATTERN | USINT | — |
| LAYER | USINT | — |
| PRODUCT | STRING | — |
| NEXT_REQ | BOOL | — |
| RESTART | BOOL | — |
| CASE_L_MM | REAL | mm |
| CASE_W_MM | REAL | mm |
| PALLET_L_MM | REAL | mm |
| PALLET_W_MM | REAL | mm |
| GAP_MM | REAL | mm |
| LAYERS_PER_PALLET | USINT | — |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| PLACE_X | REAL | mm |
| PLACE_Y | REAL | mm |
| LAYER_DONE | BOOL | — |
| PLACE_R | REAL | deg |
| PLACE_IDX | UINT | — |
| CASES_PER_LAYER | UINT | — |
| GRID_COLS | UINT | — |
| GRID_ROWS | UINT | — |
| ROTATED | BOOL | — |
| PALLET_DONE | BOOL | — |
| VALID | BOOL | — |
| ALM_CFG_ERR | BOOL | — |
| ALM_SEQ_ERR | BOOL | — |
IEC 61499 event interface
EI INIT, REQ·EO INITO, CNF
Validation evidence
- Tests
- 13
- Simulated scans
- 73
- Simulator
- v0.1.0
Complete IEC 61131-3 implementation with a published test suite that runs on the vplant simulator. The counts above are that suite, executed on this build.
- Conforms to IEC 61131-3
- Conforms to IEC 61499
Download PALLETIZER_IF — free
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