From Industrial Robotics & Automation - Fanuc Teach Pendant Programming

Cup Stacking

Dylan's Stacker Napkin Diagram
Dylan's Stacker Napkin Diagram

The stackerbot is designed simply to stack cups. This robot has the ability to select the base number of cups based on a 4 bit binary input, which turns out to be a maximum of 15 base cups. The program will continuously stack cups in a row until the base number of cups is reached, once this parameter is met, a different program is called.

An Automated Solution

This program is responsible for positioning the robot in the next row. The program consists of instructions to reset the registers and re position the robots X and Z axis. Once the robot has been re-positioned in the next row it is ready to continue the original program placing cups in that row until the parameter is met again. This repeats itself until the stack is complete.