Explanation

1. Program Initialization

• /PROG PALLETIZE → Defines the program name (PALLETIZE).
• COMMENT = "Multi-Layer Palletizing Program" → Provides a description of the program.
• /MN → Marks the start of the main program instructions.

2. Setting Up Frames, Tools, and Registers

• UFRAME_NUM=1 → Selects User Frame 1, which defines the pallet coordinate system.
• UTOOL_NUM=1 → Selects Tool Frame 1, which defines the gripper’s position relative to the robot.

3. Defining Registers (R) and Position Registers (PR)

• R[1] → Keeps track of the current row.
• R[2] → Keeps track of the current column.
• R[3] → Counts the total number of boxes placed.
• R[4] → Tracks the current layer.

• PR[10] → Defines the pick position (where the robot picks up the box).
• PR[20] → Defines the place position (where the robot places the box).
• PR[30] → Stores the original place position, used for resetting after each layer.

4. Moving to Home Position

• J P[10] → Moves the robot to a safe home position.
• 100% FINE → Uses joint motion at full speed with precise stopping.

5. Start of the Main Palletizing Loop

• LBL[1] → Label for the main loop that repeats for each box.

5.1 Picking Up the Box

• L PR[10] → Moves the robot linearly to the pick position.
• DO[1]=ON → Activates the vacuum gripper.
• WAIT 0.5 sec → Ensures the gripper has time to securely grip the box.

5.2 Placing the Box

• L PR[20] → Moves the robot linearly to the place position.
• CNT50 → Uses 50% blending, allowing smooth transitions.
• DO[1]=OFF → Turns off the vacuum, releasing the box.
• WAIT 0.5 sec → Ensures the box is fully placed before moving.

5.3 Updating Counters

• R[3] = R[3] + 1 → Increases the total box count.
• R[2] = R[2] + 1 → Moves to the next column in the row.
• If R[2] ≤ 4, the program jumps to LBL[2] to shift right.

6. Shifting to the Next Column

• PR[20,1] = PR[20,1] + 200 → Moves the place position 200mm to the right.
• Jumps back to LBL[1] to pick and place the next box.

7. Moving to the Next Row

• R[1] = R[1] + 1 → Moves to the next row.
• If R[1] ≤ 3, the program jumps to LBL[3] to move up.

• PR[20,1] = P[2,1] → Resets X to the first column.
• PR[20,2] = PR[20,2] + 150 → Moves Y up by 150mm.
• Jumps back to LBL[1] to continue.

8. Moving to the Next Layer

• R[4] = R[4] + 1 → Moves to the next layer.
• If R[4] ≤ 3, jumps to LBL[5] to move up.

• PR[20] = PR[30] → Resets X and Y.
• PR[20,3] = PR[20,3] + 100 → Moves Z up by 100mm.

9. Ending the Program

• Moves to home position and ends the program.