Page 1 VM931 E-01_DRAFT Robot Manual Offline Stacking Program Tool exclusive for A Series Robots OXPA-QmV...
Page 2 Introduction Thank you for purchasing a model from the Okura Robot Palletizer A series. This manual is a guidebook to help you safely and correctly use your A Series Robot Palletizer. It should be useful not only to beginners who are using an Okura Palletizer for the first time, but also to experienced users, who can use this Manual to reconfirm their knowledge.
Page 3: Table Of Contents
Table of Contents 1. PREPARATION ................1-1 1.1..................1-1 OR FIRST USES 1.2..................1-2 SABLE OBOT 1.3................1-3 PERATING LOW CHART 1.4. OXPA-Q ..............1-4 INSTALL AND START 1.5................... 1-4 INSTALLATION 1.6. OXPA-Q V..............1-5 TART CREEN OF 2.
Page 4 8.3....................8-5 8.4................8-7 LOBAL RECALCULATE 8.5. “R ” .............. 8-9 IMULATION OF OBOT CAPACITY 9. PRINT PARAMETERS ..............9-1 10. DEFAULT SETTINGS..............10-1 10.1................10-2 TOPPER DIRECTION 10.2..................10-2 RODUCT SIZE 10.3................10-3 AXIMUM LOAD SIZE 10.4.
Page 5: Preparation
1. Preparation This section explains main screen and basic operations before starting to create new patterns and stacking programs. 1.1. For first uses 1.1.1. Software package This package includes the following items. 1. OXPA-QmV software 2. OXPA-QmV cable (Cable between PC and robot controller) 3.
Page 6: Usable Robot
HDD: At least 50M bytes over to install OXPA-QmV Maximum of stacking programs per a robot Use sequence comment 9999(maximum stacking programs) x {32768(maximum stacking program size) + 184000(maximum sequence comment size)} 9999 x (32768 + 184000) = 2.1G byte/Robot Not use sequence comment 9999 x 32768 = 313M byte/Robot Other:...
Page 7: Operating Flow Chart
1.3. Operating Flow chart As the following flowchart shows you, setup and robot registration procedure are first time and daily operation after that. Start Already set up? Setup OXPA-QmV Enter the Serial Registered the robot? Procedure for only at very first time Register the robot, Select the robot type Register the system parameter...
Page 8: Oxpa-Qmv Install And Start
1.4. OXPA-QmV install and start 1. Insert the OXPA-QmV disk to CD drive. 2. Select “SETUP.EXE” from Explore. Or from menu bar-[Start]-[Run…]. 3. Execute “SETUP.EXE” program 4. Proceed following displayed screen or messages. 5. Enter the Serial No. when OXPA-QmV asks you to enter the ten digit serial No. For Windows XP, Vista and 7 only the Administrator can install this software.
Page 9: Start Screen Of Oxpa-Qmv
1.6. Start Screen of OXPA-QmV After OXPA-QmV has been installed, you can start OXPA-QmV clicking on [Start] – [Program] – [Okura] – [OXPA-QmV]. The below screen shows up for the first time after installed. The popup screen asks you to enter serial No. So you enter your serial No.
Page 10 1.6.1. Main Screen No robot is selected when it starts for the first time. Only version of OXPA-QmV is shown on title bar. You can choose only either [Project selection] or [Exit] until the robot selected at [3.1. Robot Registration]. If robot has been selected, the below information shows up at title bar.
Page 11 If you click on disabled button’s title, OXPA demands the entering of password. Click on Enter password and click on [OK] to make all the buttons activated.
Page 12 1.6.2. Robot Selection No robot is selected for the first time use. Robot project data of which adjusting is completed is to be copied to folder “C:¥Okura¥OXPAQm5”. Click on “Robot Selection” button to select robot. The below example shows you “0X000”...
Page 13: Version Information Of Oxpa-Qmv
Version Information of OXPA-QmV “About OXPA-QmV” screen is opened if the titled part is clicked on. Click on You can see “Memory vacant capacity” and COM port setup other than version information.
Page 14: Com Port Setting
2.1. COM Port Setting You can setup COM port that OXPA-QmV uses. Choose COM port out of the list and click on “OK”. Click on Setup...
Page 15: Project Selection
3. Project selection This section explains how to make new program folder into OXPA-QmV. OXPA-QmV is able to store different robot project data in one computer. Selecting hard disk drive or USB flash drive allows OXPA-QmV to read the data. Other robot project data can be saved into the same folder.
Page 16 3.1.1. Browse Choose folder in which robot project data exists clicking on [Browse] button. Robots are listed on [Project list] if preset robots exist in the chosen folder. This folder is also used to registered robots. Projects are listed in the chosen folder.
Page 17 3.1.2. Start new project “Start new project” screen shows up clicking on “Start new project button at [Project selection]. Enter [Project ID], [Project comment], choose [Robot type], [Conveyor station], [Pallet station] and click on [OK]. In the following example, enter “1x1111” (don’t use SPACE) to [Project ID] and “Okura Test Robot”...
Page 18 You go back to “Project selection” screen to see project “1x1111” added. Newly created project Then you click on [Select & Exit] to choose the above newly created project for the currently selected robot.
Page 19 3.1.3. Project comment and/or Robot Type Edit You can edit [Project comment], [Robot type], etc. except for [Project ID], of the robot selected in the list, clicking on [Edit selected project]. Click on Click on [OK] after changing [Project comment], [Robot type], etc. * You cannot change [Project ID].
Page 21: How To Create New Program (Basic)
4. How to create new program (Basic) Case Palletizing is explained to an example for the procedure which creates a program newly in detail. In order to create according to this procedure, the special knowledge of a program is not required. 4.1.
Page 22 Proceed from following screens. 1. Create/modify stacking program. 2. Pattern selection 4.1.1. What is teaching You must give 3 type of basic information to the Robot before starting creation new palletizing and De-palletizing program. 1. Position (Pickup position, Stacking position, Point positions on the course, and etc).
Page 23 1. Pickup position for product 2. Stacking (Placing) position for product 3. Point positions on the course Okura A series Robot Palletizer calculates 3 contents as following procedure. 4.1.2.1. Pickup position This position is automatically calculated from the following data, without moving a robot.
Page 24: Enter Product Dimension
4.2. Enter product dimension Click on “Create/modify stacking program” button at main screen to open the below screen. 4.2.1. Program number Choose program number from 1 to 9999 except program number 0 and from 800 to 972. Since the program number 0 and from 800 to 972 are reserved for special programs, do not erase or edit these programs.
Page 25 4.2.2. Name You can give maximum 30 alphabet characters for program name. It is easy for you to realize the program with given names. 4.2.3. Product dimension Enter product Length (L), Width (W) and Height (H) in millimeters (mm). You can enter up to the 1 decimal place of the Height (H).
Page 26: Parameters
4.2.5. Pallet Type Standard pallet is displayed in pallet type. Choose other pallet out of the list if needed. 4.3. Parameters 4.3.1. Maximum layers The filed displays the maximum quantity of layers which can be stacked. The value is automatically calculated, but can be reduced if preferred. Note: Formula of maximum No.
Page 27 4.3.3. Actual height: In situations where the stacking height varies for each layer due to the product, the “actual height” field is used to compensate. The height a completed load is measured and this value is entered. OXPA-QmV calculates the required height decrement using the actual height of the load and the single product height entered.
Page 28 4.3.4. Nesting depth Enter dimension of nesting depth in MM for such plastic container stacking if those are nested. 4.3.5. Depal type The defaults are as follows: “Bag-pal” for bag end effector “Depal” for Depal-pad “Case-pal” for others If you want to change the default to De-pal type, choose it from pull-down menu. 4.3.6.
Page 29 4.3.7. Stacking type: Select stacking type from followings. Column: All layers have the same pattern Interlock: Even and odd layers are rotated 90 or 180 degrees, or are patterns with bilateral symmetry Special: A different pattern can be selected for each layer.
Page 30 Note: Once 1 layer is fixed, Interlock type pattern created by automatically from following rule. 1. Stacking pattern is not liner symmetry from both side of pallet, even layer will be 180 degrees turned. 2. Stacking pattern is bilateral symmetry, even layer will be 90 degrees turned.
Page 31 4.3.8. Stack sequence only standard Stacking order can be chosen “Auto” or “Manual”. In “Auto”, end effector may interfere with products. At that case, the below message pops up when recalculated. “Yes”: Manually specify order. Open [Stacking order setting] screen on selected pattern.
Page 32: Options (1)
4.4. Options (1) Important! The 2-axis robots (A700V-P, A1600V-P, etc.) move only within the vertical plane. Therefore, there are the following restrictions. 1. Stacking type is only column. 2. Standard pattern type is block. 3. Useable stacking option is only "Extra top layer." 4.
Page 33 4.4.4. Tight Top layer The [Tight top layer] option allows the programmer to select a moving all product on the last layer (top layer) to be as close as possible. Note: Close as possible The space is adjusted so that the stacking pattern may become a square, and the space is not adjusted when drawing it to the center of the pallet usually.
Page 34: Overlap Setting
4.6. Overlap setting 4.6.1. Bag overlap: The bag overlap is used only for the bag stacking. The pattern matched to the external size (shown in the below figure on how to specify) can be made. Horizontal direction is PW, and the vertical direction is PL. Overhang setting on PL side Pallet Dimension of PL side...
Page 35: Pattern Selection
4.7. Pattern selection 4.7.1. Standard pattern selection Stacking program can be easily created by choosing a preferred one out of approx 2,000 patterns in OXPA-QmV. OXPA searches a pattern by number of products based on the pallet size and the product size. Possible candidate patterns are shown up in descending order of number of products per a layer.
Page 36 4.7.2. Registered Standard pattern selection From pallet dimension and product dimension, OXPA-QmV search the stacking pattern from pattern registered. Then display from oldest registered available stacking pattern. As following figure, registered pattern displays odd layer, even layer and by clicking right side of mouse button you can see 3D pattern. Also you can check the “Extra top layer”...
Page 37 4.7.2.1. Use fine tuned position When a candidate pattern is fine-tuned in positioning on [Magnified display], stacking program is calculated by that values accordingly. However, it is displayed without that. 4.7.3. Custom Pattern Selection Caution: Custom Pattern Specific patterns for order projects are called “Custom pattern”. The stacking order needs to be specified manually one by one as products cannot be completely mated by OXPA.
Page 38 Custom patterns can be added on at [13. Create/edit custom pattern] or by [Add pattern] button at [Pattern selection] screen. See [13. Create/Edit custom pattern] for detail. 4.7.4. Registered Custom Pattern Selection Frequently-used custom patterns can be registered and re-used clicking on [Registered Custom Pattern Selection] button.
Page 39: Load Shape Configuration And Correction
4.8. Load Shape Configuration and Correction Load shape can be confirmed at screens of stacking pattern, side view, 3-D view or magnified view of stacking method. 4.8.1. Load shift / Sheet Here is side view. Load can be moved by [<=], [Center] or [=>]. Either load-moved- to-pallet edge or move-by-entered value can be chosen.
Page 40 4.8.1.1. Pyramid mode When stacking in a Pyramid shape for rice pallet, etc., the program is created using the Pyramid mode. When a program is created with this mode, the planar position in each layer is automatically calculated so that the stacking pattern is like Pyramid shape.
Page 41 Following figures are before using pyramid and after using pyramid. Before Base layer Inclined Inclined Products Pallet After Base layer Inclined Inclined 4-21...
Page 42 Fig 1. Before using Pyramid mode. Fig 2. After using Pyramid mode. 4-22...
Page 43 Fig 3. 3D view of Pyramid. 4.8.1.2. Sheet Sheet placement can be setup. DM value Sheet magazine Layers 0 – 15 Negative 0 - 15 16 – 31 0 – 15 16 – 31 0 – 14 Positive 0 - 14 15 –...
Page 44 4.8.1.3. Example of typical sheet pick logic OXPA-QmV can calculate the robot capacity of “Example of typical sheet pick logic”, But, OXPA-QmV can not calculate the other sheet pick logic. In the 1 , please check the sheet required layers. In the 2 , please change the sheet supply time.
Page 45 Y35 = 0 Sheet required relay OFF. ENDIF ENDIF ----- omission ----- 4.8.1.4. Example of Every 12 layers ----- omission ----- COUNT Counted up. D1 is set to the next product. Or, D0 and D1 are set to the next layer and the next product. IF D1 == 0 Is the next product the 1 of layer?
Page 46 4.8.2. 3D view Here is a bird eye view of products stacked on pallet from slant top. Stacking order can be animated on screen. The view direction can be changed by clicking on green lined triangle. The current and chosen direction is turned to solid green color. [|<]: Start from beginning.
Page 47 4.8.3. Magnification of indication By clicking the “Magni view” you can enlarge the planar pattern. You can change the layer display by clicking “Top”, “Up”, “Down” and “Bottom.” The position with the product can be fine-tuned for Palletizing. It displays whether fine-tuning is possible or impossible at the left of the screen. The layer where fine-tuning is possible is the following.
Page 48 Please left-click the fine-tuned product. The screen changes as shown in the figure below. It is shown for the product to change into purple, and to have been selected. The product that has not been selected changes into the black. The selected product moves by "Arrow key"...
Page 49 4.8.4. Magnification of indication (Rotate products) In program creation, you can rotate bags for being even out surface. 1. Open the “Default value editing” screen. 2. Check ON the “Rotate bags in ‘Magni View’ ”. Check it ON 4-29...
Page 50 3. Open the “Magni View” screen. 4-30...
Page 51 4. Click on the products. 5. Click on the “CCW” or the “CW” buttons. Rotation Rotate upon click increment You can change the rotation increment. Enter the value between 0.1 to 10 degrees. If it is rotation over the pre-determined maximum degree, the below error massage shows up.
Page 52 6. Click on the “Done” `button. 4-32...
Page 53 7. Click on the “OK” button. Return to “Create/modify stacking pattern” screen. The “Create/modify stacking pattern” screen does not display the rotation. 4-33...
Page 54 8. The coordinate values of T-axis are changed upon your rotation. See the below display to compare. 4-34...
Page 55: Downloading Programs To Robot
4.9. Downloading Programs to Robot From “Create/modify stacking pattern” screen you can download the program to robot by clicking the “Download to robot”. 4-35...
Page 56 Click on [Upload. Download] button at main screen to open [Upload. download (Communicate with controller)] screen, choose [Download to robot] in [Operation] top right of the screen, choose programs you want, you can download the programs to robot by clicking on [Download from PC to robot]. See [7.
Page 57 4.9.1. Unable to downloading Programs to Robot When you cannot download programs to the Robot, the cause(s) may be one or some of the following case(s). 1. Start up OXPA-QmV without serial number. 2. Standard COM port is “Stand alone” Check if it is [OXPA-QmV version information], or [PC alone] on [OXPA usage condition setting] screen.
Page 58 Check on [OXPA-usage condition setting] screen 3. Make sure if communication condition setting is same as in controller. Make sure if USB cable is securely connected between PC and robot. Make sure if COM port is correctly setup. Make sure if, in system parameter setting, baud rate of OXPA-QmV / PLCV is set to 38400 bps, stop bit to 8, and parity bit to none.
Page 59: How To Create New Program (Practical)
5. How to create new Program (Practical) This section explains how to create pattern not like Column type or Alternative type. Also explains how to create program for layout which station or pallets positions are more than one. 5.1. Variable pick up For Carton box, usually uses standard Carton box hand (End effector).
Page 60 only for “Labels out” also you can use for changing direction of products. The “Variable pick” setting is must done before create pattern. Following figure is “Labels out” pattern. You can see 1 layer 4 product and 2 layer 1 , 3rd, 4 layer are “Labels out.”...
Page 61: Stacking Order And Editing Detail
5.2. Stacking order and editing detail Here explains how change the product direction or stacking order. Before start this edit you must setup as followings. 1. You must choose standard pattern from OXPA-QmV memory. For Carton box select [Parameter setting]-[Default]-[Manual stack sequence] to “NO” stacking order is fixed by OXPA-QmV automatically.
Page 62 You will see Stopper side mark (Black Colored Square) and support side (Triangle) of end-effector on the product as following figure. Stopper side Support side 5.2.1. Graphic representation of the product Dark green with light pink: Indicates the selected product for modification Red: The product has been sequenced (Is not dropped from above) Dark blue: The product has been sequenced (The BAG is dropped from above) Green: Indicates the selected product is multi picked...
Page 63 Undo: This command allows the programmer to “undo” the command selection immediately preceding the “Undo” button operation. Product direction: The “Prdct dir” button changes the stacking direction of the product. Pick direction: The “Pick dir” button allows the programmer to change the orientation of the hand (end effector) when picking the product from the station conveyor.
Page 64: Pattern Copy/Create
5.3. Pattern copy/create You can change the stacking type from “Column/Interlock” to “Special”. When staking type is “Special”, you can use the following functions. Copy pattern from other layers Create replace with new pattern to any pre-created layer 5.3.1. Specialize If you use the pattern copy/create functions, you need to change the stacking type from “Column/Interlock”...
Page 65 You click on the “Specialize” button, to display the following message. [OK]: Switch over to special stacking [Cancel]: Cancel special stacking In special stacking, “Modify stacking pattern” button works.
Page 66 5.3.2. Copy pattern from other layers You can copy the pattern from other layers. Example : Copy pattern form the 5 layer to the 3 layer and 3 layer and 4 layer layer 1. Select the target layer (Ex. 3 ) by clicking on the “Up/Down”...
Page 67 4. Select the 9 layer. And click on the “OK” button. Select 5 layer Click here Complete copy operation. (The 5 layer is same as the 3 layer)
Page 68 5.3.3. Replace with new pattern You can create replace with new pattern to any pre-created layer. Example : Create only the 1 layer 1. Select the target layer (Ex. 1 ) by clicking on the “Up/Down” button of the “stack pattern”...
Page 69 5. Select the pattern of the 1 layer Click on the pattern Click on the pattern (Direction) 5-11...
Page 70 7. Complete newly create operation. (The 1 layer is new pattern) 5-12...
Page 71: Multi-Place And Multi-Row
5.4. Multi-place and Multi-row Function of multi-place is used when multi-products per a pick are placed at a time or some per a pick are placed separately. Choose [Custom stacking] at stacking type selection, choose [Multi-place] and enter number of picks at a time into [Max. number of multi-picks].
Page 72 Setup stacking order. See [5.2. Stacking order setting] for detail. One machine cycle time in general is decided by how many products are picked at a time. If multi-picks are split to multi-layers, the case cannot be laid out on a single figure. Below is example of 2-picks and 2-cycles.
Page 73 Next, the remaining two products are laid out. The below example is of 3-picks and 2 places. One remained is stacked on next layer. Or choosing [Cycle end] allows you to make two products one cycle. All layers are carried out with a product by repeating this procedure. 5-15...
Page 74 5.4.1. The rear product first place When multi-placed, stacking order and/or stacking direction may be needed to edit. At stacking order/attribute edit, stacking order, multi-pick, turning, approach direction, product direction, picking direction and drop high for bag can be setup. However, picking direction can be changed only when it is set to variable.
Page 75 Choose, “The rear work first” When [Rear product first place] is chosen, neither [Multi-place] nor [Cycle end] on half way can be chosen. Caution: Cycle end If less than max. multi-picks, pressing [Cycle end] button allows robot to pick/place next ones after placing products in end effector. 5-17...
Page 76 The below diagram shows you a product at rear side. The laid product turned to light green. As long as no product is laid at front side, you cannot switch over [Front product first place] to [Rear product first place] or vs. Not able to change Displayed in light green 5-18...
Page 77 Two products gripped are placed to enable you to change [Rear product first place] to [Front product first place] or vs. Able to change Both 1 and 2 works should be in the same pick-up direction. 5-19...
Page 78 After that, do the same manner as used to be. The signs to represent stacking order are comprised with capitals to show stacking order and the number to show placing order. When rear side is first, the rear one is 1, the front one is 2. 5-20...
Page 79 5.4.2. Procedure for setting the multi-row Here is multi-row picking. 1. Left-clicking on product for multi-row picking. Click 2. Clicking on “Multi-pick” to turn to light green which stands for “Supposed to be multi-row picked”. Click 5-21...
Page 80 3. Do the same things with other row to be picked at a time. Click 4. Left-click on a last product which is supposed to be picked at a time. Then, those products are set to multi-row picking. Set to 2-row x 3 products 5-22...
Page 81 5. Do the same things to rest of all products to complete the setting by clicking on “OK”. Click 5-23...
Page 82 6. In [Stacking order/attribute edit] screen, setting whole products and layers has been completed to end up with a stacking program completed. Stacking load shape can be viewed at [Stacking type] or [Magnified display] screen. * You can make it up to 3-row picking at maximum. * You can create a program with “Single pick”, “Multi-pick (Single-row multi-pick)”...
Page 83: Editing Program
6. Editing program This section explains how to edit the created program. Also explains program structure for helping you when edit program. 6.1. Program structure This section explains structure of program data. 6.1.1. Inside of Hard disk OXPA-QmV has following data 1.
Page 84 6.1.3. Step data Step data has following information 1. Step parameter 2. Position coordinate Position coordinate quantity is depends on the step quantity. For example, position of hand waiting on the station conveyor does not change by stacking layer or stacking number.
Page 85 Structure of program data Robot folder System parameter Com setting data Servo parameter DSP program file Error information Key trace data Program data Program data Program parameter Sequence program Step Auxiliary data Step data Step data Step parameter Position coordinate Lay, 1 product lay, 2...
Page 86: Editing Program
6.2. Editing program Click on [Program editing in detail] button at main screen to open the screen. Choose programs to edit and ones to refer then choose item to edit.
Page 87: Editing Program Parameter
6.3. Editing Program parameter This section explains each screen for editing program parameter. Program No.: represents program number. Group No.: represents program group number which can be changed. Product code: It is product code of program which can be changed. Comment: Change the product name for program Size:...
Page 88 Pallet on floor: Change the pallet height automatically from detected pallet quantity by external PLC, select this dialog box and enter pallet height into “Thickness” field. Pallet thickness: Thickness of a pallet in case of on floor. Motion type: Bag pal, case pal, Depal Stacking pattern: Column, alternative, special, RP mode.
Page 89 6.3.2. Inching distance D1 – D4 and D2Z, D3 and D4 are shown on the below two figures. See the below figure of case-pal or right side on the next program parameter screen of bag for what each variable of distance means.
Page 90 6.3.3. Step 6 (ADN) Planer position Select the planer position for step 6(ADN) to one of the following figures. Step 5 Step 7...
Page 91 6.3.4. Step8 (CLW) Height...
Page 92 Select the planer position for step8 (CLW) to one of the following figures. Not use step 11 Standard Step9 Use step 11 Standard Step9 8,11 Note: If station conveyor is higher than pallet and end effector hits the station conveyor during stacking, select step 9. 6-10...
Page 93 6.3.5. Step 5 (APR) Height 6-11...
Page 94 Select the planer position for step 5 height is equal to step 4 height. Not use step 10 Standard Step 4 Use step 10 Standard Step 4 5,10 Note If station conveyor is higher than pallet and end effector hits the station conveyor during stacking, select step 4 or use step 10.
Page 95 6.3.6. Step 5 (APR) T-axis angle Select the T-axis movement from step 5 to step 6 Parallel to Step 7 (LOD) Fixed (Lock T during R) Note When T-axis turns about 360 degrees during the movement from step 5 to step 6, select “Fixed.”...
Page 96 6.3.7. Step 10 (APU) and 11 (PUP) Select need step10 or step 11. Note Step 10 command is “APU” and Step 11 command is “PUP.” See section 6.5. [Editing Step parameter] for detail of step command. 6-14...
Page 97 6.3.7.1. Inclined motion You can get a short cut path with improved ‘Inclined motion’. End-effector never collides with equipment of the station/pallet conveyor. See the followings about how it works. * Station is high, and pallet is low High station Arm moves horizontally (10) (11)
Page 98 * Station is low, and pallet is high Low station Arm moves horizontally (10) (11) (10) Arm moves horizontally * Arm moves horizontally End-effector never collides with equipment of the station conveyor. 6-16...
Page 99 6.3.7.2. ‘COUNT’ instruction of robot sequence When you use improved ‘Inclined motion’, ‘COUNT’ instruction must be executed between ‘MOV 8’ and ‘MOV 11’. Instruction Comment --omission-- MOV 8 Move to position 8 : above release position WTARM Wait for end of arm movement COUNT Increment the counters MOV 11...
Page 100: Robot Sequence
6.4. Robot sequence The robot sequence and the comment can be edited. Please click the column of the instruction or the comment, and edit it directly. The editing can be canceled by "ESC" key. The edit is ended by "Enter" key. The function of "Enter" key is described as follows.
Page 101 [All copy] The “All copy” button copies all reference sequence program to editing program. [Syntax check] The “Syntax check” button checks your sequence program is correct or not. [Find and Replace] From list view of the editing program it finds or replace the string, or. As for the line which becomes the object of finds and replaces please set with [ Inst Cmnt Both ] radio button.
Page 102: Step Parameters
6.5. Step parameters Step parameters can be edited. Click on [Coord] at [Step] to list them. Choose one out of the list. 6-20...
Page 103 Here is a example of list to show them by clicking on. [Other reference program] By clicking “Other reference program” reference program list box displays. Select the reference program form this box. 6-21...
Page 104 [Step add] A step is added with the smallest number not currently stored (Except step 10 and 11). After the step 9 free step number is 12. At same time the step is added, initial setting for step parameters is stored. [Step delete] This deletes the step at the step No.
Page 105 Speed This designates the speed for movement of the arm to this step. The setting range is the values 1 - 10. These values indicate speeds which are 10% increments of the automatic operation speed. Acceleration coefficient, Deceleration coefficient These designate the acceleration and deceleration time during movement of the arm to this step.
Page 106 6.5.1. Step commands list Step Calculation formula Position coordinate Concept Z shift command HWT(RZ)=STA(RZ)+D1 -Position D1 above STA step HWT(Rθ,RX,Rα)=STA(Rθ,RX,Rα) Stored data Stored data SUP(RZ)=(1)HLD(RZ)+D1 -Position above HLD step =(2)LOD(RZ)+D2Z -Height is determined by HLD Whichever of (1) or (2) is bigger (during and LOD inclined movement always (1)) SUP(Rθ,RX,Rα)=HLD(Rθ,RX,Rα)
Page 107 Note Step command other than NON can only be used once in the same program. Note: What is Z shift? If there are multiple direct placement pallets, the height data is shifted according to the number of pallets. Shifted =O, Not shifted =X 6-25...
Page 108 6.5.2. The position command list Position data to change depending Commands Number of memory points on stacking layers/products No change 1 point/plane, 1/height Change every layer 1/plane, all layers/height 1 full layer / plane column stacking 2 full layers/ plane alt stacking All layers / height All products stacked except same pattern setting / plane...
Page 109: Auxiliary Data Editing
6.6. Auxiliary data editing Step auxiliary data can be edited. Click on [Dt2] at [Drp] to list up. Choose one out of them. [Other reference program] By clicking “Other reference program” reference program list box displays. Select the reference program form this box. [OK] By clicking “OK”...
Page 110 Pickup quantity This designates the value for incrementing or decrementing the stacking counter. This is set so that counter value and stacking quantity match when handling more than one work. APR direction (Approach direction) This designates the position relationship between an APR step and an LOD step. Normally D2X and D2Y in program parameters match the sign of pallet coordinates, in this case, the APR direction becomes 0, by selecting 1, 7, it is possible to shift the positional relationship in the direction on the screen.
Page 111: Editing Step Position Coordinate
6.7. Editing Step position coordinate Step position data can be edited. Edit them clicking on each position coordinate. You can cancel by ESC key what you edited. In all the coordinates at arm, hand, pallet or station, the numbers are shown in unit of 0.1mm.
Page 112 [OK] By clicking “OK” save the all changes and close dialog box. [Cancel] By clicking “Cancel” all changes are canceled. 6.7.1. Pallet coordinates This coordinate indicates the center of product from pallet origin point. Pallet Pallet origin point Opposite side of pallet origin point 6-30...
Page 113 6.7.2. Station coordinates This coordinate indicates center of T-axis from center of station conveyor stopper. Stopper Flowing direction Station conveyor Station conveyor origin point 6.7.3. Arm coordinates This coordinate indicates from position of point A to origin point of robot. 6.7.4.
Page 114: Auto Height Calculation
6.8. Auto Height calculation This function is for recalculate the height (Z coordinate) of product from 2 layer. Select “Yes”, recalculate the height (Z coordinate) of product from 2 layer. Select “No”, does not recalculate the height (Z coordinate) of product from 2 layer.
Page 115: Extended Axis Position Data
6.9. Extended axis position data Position data of extended axis can be edited. Click on each item to edit them. You can cancel by ESC key what you edited. Step add :Add steps of C axis Last step delete :Delete last step of C axis Axis change :Change axis out of multi-extended axes Row add...
Page 117: Upload / Download
7. Upload / Download All files in projects and communication between OPXA-QmV and controller are described. For the very first time to communicate, make sure in advance if [Standard COM port] on [Version info of OXPA-QmV] is NOT set to {PC alone} but the COM port is connected with controller.
Page 118: View / Refresh (Pc)
7.1. View / Refresh (PC) Files in PC (laptop) are listed. Such files as system parameters, etc. are shown on left column if available. Available stacking programs are shown.
Page 119: View / Delete (Robot)
7.2. View / Delete (Robot) Stacking programs in controller are shown up on right column. But such system files as system parameters are not shown. Stacking program can be deleted.
Page 120: Download To Robot
7.3. Download to robot Files in PC (laptop) are listed on left column. Such system files as system parameters will be displayed with the names if available. Stacking programs and system files in PC (laptop) can be transferred to controller. Note: Upload and download Sequence comments can be also uploaded/downloaded together with stacking program only when both [10.11.1.
Page 121 Below message pops up when system parameters are downloaded. For fail-safe measure, the default setting is such robot inherent data as [Origin offset] is OFF and [Robot speed to change to [1] is ON. Double check if it is really OK before switching over ON/OFF.
Page 122: Upload To Pc
7.4. Upload to PC Files in controller are listed on right column. Such system files as system parameters will be displayed with the names if available. Available stacking programs are shown. Available system files and stacking programs can be transferred to PC (laptop) from controller.
Page 123: Verify Pc - Robot
Below message pops up when system files and stacking programs are in PC (laptop). : Overwrite system parameters : Don’t overwrite : Overwrite other files uploaded as well as system parameters Cancel : Neither uploads it nor uploads any files to be uploaded 7.5.
Page 124 Comparison list can be shown having list on right side. If [Upload to PC] is chosen first and then [PC-Robot verify] is chosen second. Both sides are listed.
Page 125: Program Utilities
8. Program utilities [OXPA auxiliary function] is opened if [OXPA auxiliary function] is chosen on [OXPA mode] screen. On the screen, to delete, copy or to backup whole stacking programs can be done. Click...
Page 127: Program Delete
8.1. Program delete Choose from list Click * Possible to multiple choose Delete procedure (1) Choose [Delete program]. But [Delete program] is chosen by itself as a default right after [OXPA- auxiliary function] screen is opened. (2) Choose programs to delete. (3) Click on [Delete] button.
Page 128: Program Copy
8.2. Program copy Note When a program copied from other is used for actual stacking, mating with the peripheral conveyor control may be failed from time to time. It is much easier for you to create a new program not by copying other one but created by [OXPA mode] screen.
Page 129: Back-Up
8.3. Back-up Backup procedure (1) Choose [Backup]. (2) Choose a drive at backup destination. (3) Click on [Execute] button. (4) [Complete] message pops up when backup is completed. Click on [OK]. (5) Press [Close] button to close [OXPA auxiliary function].
Page 130 Caution You cannot backup if already backup at the backup destination. It is impossible to overwrite with the same project number. You may need to delete the project No. in the backup destination, designate other drive or use such other memory device as USB.
Page 131: Global Recalculate
8.4. Global recalculate Possible to choose [Global recalculate] when [OXPA auxiliary function] is chosen at main screen. OXPA recalculates stacking programs always based on the system parameters. A stacking program is consisted of patterns throughout whole layers and program parameters. Program parameter can be chosen out of the program or other program. In case of [Single recalculate], the program uses its own.
Page 132 Click on [Scan] button after you enter [Program No.]. OXPA scans programs of the same conditions. The scanning conditions: Station No. Pallet No. Type of product is [Case-pal], [Bag-pal] or [De-pal]. Programs of the same conditions as its program...
Page 133: Simulation Of "Robot Capacity
[Kept data] Pattern structure: Pattern structure is kept. Position data in the program for recalculation won’t be changed even if changed. Pattern in which load shape is adjusted to pallet edge will be back to the previous situation. Stacking positions: Stacking positions are decided by both load shape created with pattern structure and fine-tuning at magnified display screen.
Page 134 8.5.1. Arm position control The time of the robot arm moving from “MOV” through “WTARM” OXPA-QmV simulates how long it takes, from the start position to the target position, with “Acceleration coefficient”, “Deceleration coefficient”, “Overlap” and “CP/PTP” of the “Step parameters”. The simulation is carried out pallet to pallet. If step 2 does not exist or is not processed, OXPA-QmV discontinues the simulation and ends with error message.
Page 135 8.5.3. Substitution OXPA-QmＶ simulates Relay Substitution for relay and/or DM. The relay and/or DM is zero at the time of that begins to be simulated. 8.5.4. System control “COUNT” counts up next product(D1), or next layer(D0) and next product(D1). If “COUNT” does not exist or is not processed, OXPA-QmV discontinues the simulation and ends with error message.
Page 136 8.5.6. Program branch OXPA-QmＶ continues simulation “JMPL” jump to target “LBL”, “JTOP” and “ENDP” return to beginning of robot sequence program. The following robot sequence commands are discarded. PGSEL and JMPP 8.5.7. Condition and loop branch OXPA-QmV decides the next process with the true or false of “IF” and/or “LOOP”. The relay and/or DM are cleared to zero when simulation starts.
Page 137 8.5.9. Parameters of “Capacity calculation” OXPA-QmV has the following parameters. 8.5.9.1. Open In case products are “BAG”, OXPA-QmV needs the time of “WTCON” to be entered by you. (Maximum 20000msec) In case products are “CASE”, OXPA-QmV can simply execute “WTTMR” whatever “Open”...
Page 139: Print Parameters
9. Print parameters [Print-File output] screen shows up, clicking on [Print] button at main screen. Clicking on [Reset] button allows it to adjust to proper printing location. Font type for printing are JIS=MS MINCHO 36pt, and English=Courier New 32pt. In stacking program printing and/or file output, such items as program parameters, sequence program, step parameter4s, step auxiliary data, step data can be chosen respectively.
Page 141: Default Settings
10. Default settings In [OXPA Use Condition] setting, a correct password needs to be entered in order to protect the important default setting data. Clicking on [OXPA Use Condition] button at main screen allows it to open [OXPA-QmV default settings (default. communication)] screen. 10-1...
Page 142: Stopper Direction
10.1. Stopper direction The stopper direction “combo box” is changed by the programmer when they need to program at the robot and would like to view the patterns relative to the way their laptop screen is positioned relative to the robot. When the programmer is standing at the laptop screen, the pallet conveyor pallet stop can be referenced their left, right, up (front) or down (rear).
Page 143: Maximum Load Size
10.3. Maximum load size Enter the maximum load width at the “Front view” field, when viewing the stack from the pallet stop. ENter the maximum load width at the “Right side view” field, when viewing the stack from the right side of pallet stop. If there is a load size limit including pallet height, enter max load size including pallet height into [Height including pallet] box.
Page 144 When smaller dimension from product length and width is more then the determination length of small or large, use overhang ratio. Following example is for small product overhang ratio. Smaller dimension from product length and width divided value call “Product overhang ratio.” For example: Use following situation for overhang Maximum loaded length from pallet stopper with front direction.
Page 145: Variable Height Setting
10.5. Variable height setting “Actual Height” of “Create / modify stacking program” screen was limited within the range from -20% to +20% of original height calculated by “No. of layer” and “Product height”. When you entered the “Actual Height” out of the limit, OXPA-QmV popped up the following alert (Fig.2), and canceled your entered value.
Page 146 It has been improved that you can change the limited range up to until +/-70%. +/-20% +/-70% Original Height Fig.3 Before After From -20% to +20%. From -70% to +70%. Procedure of the changing the limited range. 1. Open “Default value editing” screen. 2.
Page 147 When “Variable” of “Actual height limit” is OFF, the limited range are back to default (From -20% to +20%). Fig.4 Check it ON. And, change the limited percentage. 10-7...
Page 148: Approach (For Special Uses)
In the above example, “Lower” is -50%, and “Upper” is +30%. If you enter wrong height at Fig.1 the following alert pops up (Fig.5), re-enter correct one. Limited range 1000 x 0.5 = 500 1000 x 1.3 = 1300 Fig.5 10.6.
Page 149: Change Threshold
% : partial / L size x 100 overlapping L size W size L size becomes a standard when L size is smaller than W size. % : partial / min(L,W) x 100 overlapping W size % : partial / W size x 100 overlapping 10.8.
Page 150: Auto Stack Sequence
10.10. Auto stack sequence When a new stacking program is created at [OXPA mode], the default is set to which stacking order is used, auto or manual. If auto, bag-drop high is also auto set. 10.11. Check boxes 10.11.1. Transfer robot comment files Sequence comments can be uploaded/downloaded together with stacking programs.
Page 151 10.11.3.1. Prevent T-axis from unwanted spinning OXPA-QmV can prevent T-axis from the following three unwanted spinning at MOV 5-7, 4-5 and/or 8-9. Check on: The calculation is changed to soft limit based form 180 degrees fixed. The default value is set to OFF for the existing 180 degrees fixed.
Page 152 10.11.3.2. Soft limit of T-axis T-axis can spin as follows. Purple line; Blue line; T-axis origin point T-axis spinning Red line; AT(+) side. T-axis spinning T-axis soft limit T-axis soft limit -220 +220 Ex. T-axis can spin between -220 and 220 degrees at maximum. T-axis never ever spins beyond the soft limits which are adjustable.
Page 153 10.11.3.3. Case of moving P-5-7 Ex. T-axis values are P (Pick-up position) 5 (Step 5) +150 7 (Step 7) +130 Red line describes the case at the check box OFF. Spinning P to 5 CW is shorter direction than CCW. T-axis spins -60 to -210, as spinning -60 to +150 is longer. To go to 7 from 5, not-shorter direction CCW is to be chosen as T-axis can not spin -210 to -230 because of the soft limit.
Page 154 10.11.3.4. Case of moving X-4-5 Ex. T-axis values are X (Origin point) 4 (Step 4) +160 5 (Step 5) -120 Red line describes the case at check box OFF. Spinning X to 5 CCW is shorter direction than CW. So, T-axis spins 0 to +160. To go to 5 from 4 as not-shorter direction CW is to be chosen as T-axis can not spin +160 to +240 because of the soft limit.
Page 155 10.11.3.5. Case of moving 8-11-9 along inclined motion Ex. T-axis values are 8 (Step 8) -120 11 (Step 11) Intermediate point -160 9 (Step 9) +160 -200 When the check box is OFF, T-axis is calculated based on 180 degrees fixed. OXPA-QmV calculates the intermediate point as follows.
Page 156 10.11.4. Align by palm (Fork only) When the “Align by palm (Fork only)” is checked ON, you can use the “Aligned distance” of the “End-effector and station-conveyor parameters” screen. 10.11.5. Rotate bags in ‘Magni view’ This is to be turned ON when bags are fine-rotated in adjustment on Magni view. See [4.8.3.
Page 157 10.11.7. Use ‘Lock with internal key’ To protect the controller’s files from overwriting by mistakes, check it ON and then you can lock with internal key. 10.11.7.1. After locked When already locked, check box is disabled. 10-17...
Page 158 OXPA can detect the difference of the internal keys between Laptop and controller. If the internal keys are differed, the below error massage pops up. You can not try to download wrong data files. If the internal keys are matched, you can download. Moreover, the below error message pops up to stop downloading when tried to transfer to controller from a project on which [Protect system-parameter of robot by internal key] is set to OFF.
Page 159 10.11.8. Set COM Port Exclusive For Order Project Checking box [Use COM Port limited to project] ON allows it to setup a separate COM port exclusively used for project other than standard use. 10-19...
Page 160: Comment File For Robot Sequence
10.12. Comment file for robot sequence Clicking on “Designate” button at bottom right of “Default settings” screen allows you to designate a comment file for robot sequence. 10-20...
Page 161 Click on “OK” to open the next “Designate the comment file for sequence program”. Click on “Open” after comment file chosen. This function is setting the store allocation for sequence program. 1. Select the command from menu bar-[Utilities]-[Comment designate]. Just after the crate robot program, comment file allocation does not set.
Page 162 The files designated are displayed on screen. 10-22...
Page 163: Master Password
10.13. Master password Whole project is protected by [Master password]. The default is “Need (Customer)”. Choosing “Not protected” allows OXPA to not confirm any password. All functions can be used. Therefore, it is strongly recommended that you choose “Protected” to protect the important configuration data when you as a service technician leave customer site after installation is completed.
Page 165: Parameter Setting
11. Parameter setting A correct password needs to be entered to protect important configuration data at [Station & end effector registration]. Clicking on “EE & Conv. parameters” button at main screen allows you to open “End effector and station conveyor parameters” screen. 11.1.
Page 166 11.1.1. Station type Choose either one out of [Belt], [Roller] or [Fixed pick position]. Figure: Belt Figure: Roller Figure: Fixed pick position (All center) 11-2...
Page 167 End-effector (For double E.E.) Product Product Station Station conveyor position Figure: Fixed pick position (For double E.E.) Figure: Fixed pick position (Typical) 11-3...
Page 168 11.1.2. Palm direction above conveyor <Left side, Right side> This is direction of gripping at station. The view direction is along flow line of product from upper conveyors. The palm of EE located at either left side or right side to be set. <Auto>...
Page 169 11.1.3. First roller: Roller type requires the entering of roller information which allows OXPA-QmV to program for fingers. 11.1.4. Roller pitch: This is used when the station conveyor type is roller. This is the distance between the rollers. The distance is assumed to be typical along all of the rollers. 11.1.5.
Page 170 11.1.7. Gap of prd on sta The crevice is entered, when leaving a crevice and holding two conveyance things on a station. Note: Please the following station information must make the type in "Fixed type (For double E.E.)". Hand Product Product Station Station conveyor position...
Page 171: End-Effector Parameters
11.2. End-effector parameters Register end effector. Choose [EE type]. Type of EE chosen is displayed at right side. Pressing the arrow marks at the top left corner allows you to choose the direction of view. 11.2.1. E.E. type Type designates the hand (end effector) type that is being used. Each type of hand (end effector), carton box, bag or vacuum requires distinct information so that the calculations of the pick and set down are correct.
Page 172 11.2.2. Finger (with/without) Some carton box hand (end effector) use forks that go between the rolls on the case conveyor like the bag hand (end effector). Selected whether or not, there are fingers on the hand (end effector). 11.2.3. Synchronized palm When a hand (end effector) opens and closes the palms are either synchronized (move symmetrically and together) or none synchronized (where is only single palm, only one of the palms move or move asymmetrically).
Page 173 11.2.5. Collide chck (pos) “Need”: OXPA-QmV checks whether the end-effector collides with the already stacked products on the pallet at “Stacking sequence modification” screen. “No need”: OXPA-QmV does not check at all. Collided Endeffector : Yellow Already stacked Just set down Fig.
Page 174 11.2.6. Collide check (Apr) “Need”: OXPA-QmV checks whether the end effector and/or products of all the approach direction collides with the already stacked products on the pallet at “Stacking sequence modification” screen. “No need”: OXPA-QmV does not check. Collided During approaching Already stacked Just set down Fig.
Page 175 11.2.7. Auto-adjust (Cnv) “Need”: OXPA-QmV checks whether the end effector collides with the station stopper and the rollers. If the end effector collides, OXPA-QmV auto-adjusts the pick-up position. “No need”: OXPA-QmV does not auto-adjust the pick-up position. Endeffector : Yellow Finger : Green Auto-adjust Roller : Gray...
Page 176 11.2.10. Product Gap: Product gap is the distance between products that is to be maintained during pattern generation. This is similar to palm gap, however; product gap is used where products are spaced greater than the palm thickness to allow for cooling, or product specific reasons.
Page 177 11.2.14. Longest radius Enter max radius between point A and any EE devices. Enter the longest radius of end-effector. 11-13...
Page 178 11.2.15. Length For clamp style (carton box) hands (end effectors) set length to the widest paddle/palm length. For finger style (bag or fork) hand (end effectors) set the length to the finger mounting frame length. For vacuum style hand (end effector) set the length to vacuum cup diameter or flame length for vacuum attachment.
Page 179 11.2.20. First finger: To calculate the position of the fingers, OXPA-QmV needs a position of the fingers relative to the length of the paddle. The first finger distance is measured from the end of the paddle or finger mount (front of the hand (end effector) to the center of the first finger.
Page 180 11.2.23. Palm/CV- top gap: This is used to determine the minimum value for palm clearance to the station conveyor. For a hand (end effector) with no fingers, set the distance to the value needed between the station conveyor top surface and the bottom edge of the palm when the hand (end effector) grasps the product.
Page 181 11.2.27. Fork type E.E. parameters OXPA-QmV calculates Step2 position from the “Distance between E.E. center and the station conveyor position”.Step2 position is always fixed from the station conveyor position. Step3 positions is calculated from Step2 and new parameter. E.E Center Prds Distance between Fix Plate and E.E.
Page 182 Action of Fork type E.E. The red chain lines are represented the station conveyor position. (1) Step 2 (Fixed position always). The Guide is “Center”. Small Large pickup conveyor pickup conveyor (2) Step3 (These differ to each product’s width). The Guide is “Center”. Move Robot Move Robot Small...
Page 183: Station & Pallet Setup
12. Station & Pallet setup A correct password is to be entered to protect important configuration data at [Station location & pallet setup]. Click on [Conveyor position, pallet] button at main screen to open [Station & pallet setup] screen. 12.1. Station conveyor position 12.1.1.
Page 184 1. Intersect point of HX and HY: The position of the station is referenced in “Hand coordinates.” This allows the installer to measure directly form the center of the robot in Hx and Hy directions and from the floor with reference to the robot base casting for the Hz direction. 2.
Page 185 12.1.2. One side basis (guide) You can select the products flow center of the station conveyor or flow one side of the conveyor. For example, if there is a pusher that registers the entire product against a guide on the right then the right should be selected. Left or Right is viewing from as flowing direction (Fixed stop on the end of conveyor is top).
Page 186 Pallet Terminology: The front and rear positions of the pallet are used to define the pallet coordinate origin. The pallet has a front, back, left and right. Generally, the pallet is positioned by the conveyor until the pallet contacts a fixed or pop up stop. The pallet edge that contacts the stop is routinely designated as the front.
Page 187 12.1.4. Extreme distance away from ‘Conv pos’ Open the “Station & pallet setup” screen. Enter the extreme distance along ‘Flow/Side dir’ including attached devices away from ‘Conv pos’. Station conveyor Attached devices Flow dir Conveyor Position Side dir 12-5...
Page 188 12.1.5. Distance ‘Plt edge’ to attached equipment Open the “Station & pallet setup” screen. Enter the extreme distance along ‘Flow/Side dir’ including attached devices away from ‘Plt edge’. Pallet edge Attached devices Pallet Flow dir Side dir 12-6...
Page 189: Pallet Parameters
12.1.6. Qty Plt on floor Number of maximum pallets when pallet is piled to floor. This value is not used when not is accumulation. It depends whether pile it on the reference program. Refer to the "Robot Manual - Teaching" concerning the "Pallet floor placement". 12.1.7.
Page 190 12.2.1. Pallet list Possible to view the registered pallets at [View list]. Default pallet for daily use can be designated on the list of [Standard pallets]. 12-8...
Page 191: Create Custom Pattern
13. Create custom pattern On [Create Custom Pattern], the exact password has to be set to protect the data of the inherent patterns. Clicking on the button of [Create Custom Pattern] at main screen allows you to open the screen. Or on [Custom Pattern Selection], clicking on [Pattern add] at [Pattern selection] allows you to open the same screen.
Page 192 13.1.2. Create Odd layer pattern Drag & drop and lay using a mouse a product to cyan-grid area (B) from chartreuse area (A). The product is surrounded by a red doublet when laid. Drag & drop and lay second and third products in other direction. All the three products are surrounded by a red doublet which represents a external line of the pattern you are working on.
Page 193 Create two 4-produt-wheel patterns next each other in the same manner as done at the previous 1 and 2. Lay three products other than 4-wheel patterns in the same manner as done at the previous 1 and 2. 13-3...
Page 194 Lay the remained two 4-wheel patterns in the same manner as No.1 and 2. The pattern you have created is located a bit offset left in the cyan grid area (See the above cyan painting palette). If you want, pressing [Centering] button at bottom allows the pattern to be centered in the cyan grid area.(See the below palette) Click on this [Centering]...
Page 195 Edit a central product to be centered in the pattern surrounded by red doublet. Grid Center of the whole pattern Magnified 13-5...
Page 196 Products in cyan grid area (B) are to be laid by a grid division. So the current central product may be shifted either direction of upward or downward. Checking [Use half grid division] ON allows the product in cyan grid area to move by a half grid division to be centered.
Page 197 Move a central product by a half grid division to be centered. Move it by a half grid division 1/2 grid division Center of pattern Magnified 13-7...
Page 198 10. Now, the central product looks laid in the center of the pattern. However, OXPA still doesn’t know where the central product is within the red doublet. In order to center the product within the pattern and mate with the red doublet, checking both [Hrz] &...
Page 199 11. Only the products laid at the corners of red doublet have been mated so far. However, other than that, the rest of the products need to be mated using the functions at top area (C). The details are introduced later on. 11.1 Mate any products along external lines which do not mate with red doublets.
Page 200 11.2 In order to mate product followed by mated one along external line, click on [Inside] at [Mate with other dir product]. Product mated along external line Product followed by mated one along external line Other direction each other Magnified This is all for creation of odd layer pattern.
Page 201 13.1.3. Create even layer pattern After completed odd layer pattern, set up how the even layer pattern is created. As these odd and even layer patterns are the exact same as when one rotated or reversed is equal to another, let’s assume both patterns are the exact same. Select [Same pattern] This is all for creation of even layer pattern.
Page 202 13.1.5. Check if registration is completed and exit Click on [Check/Delete] button to check if registration is successfully completed. Click on this button Click on [Check / Delete] to see “Check / Delete” screen. The pattern shows up if successfully completed. If not, error message shows up at bottom. Pattern shows up Error message Click on [Delete pattern] if failed.
Page 203 When completed, click on [Exit] to return to [Create custom pattern] screen. Click on this button If this pattern can be accepted, click on [Exit] at [Create custom pattern] screen. Click on this button This is all for Create custom pattern. 13-13...
Page 204 13.1.6. Detailed descriptions for each area 13.1.6.1. Chartreuse area (A) Turned and laid Laid left (right) left (right) Laid up (down) Turned and laid up (down) Choose product in Chartreuse are (A). Drag & drop it to cyan grid area (B). 13.1.6.2.
Page 205 13.1.6.3. Top area (C) How to mate the laid products in positioning can be set up. 13.1.6.3.1. Two products in different direction (Outside) One product along external line and another one in other direction are laid and mated next to each other. See section 11.1 for the actual looks. 13.1.6.3.2.
Page 206 13.1.6.3.5. Mate (2x2) brick by center line OXPA fails in sometimes mating, if pattern is (2x2) brick. The line of reversing axis of (2x2) brick pattern is to be specified with [Hrz center] or [Vrt center] at [Mate (2x2) brick by]. OXPA sometimes fails.
Page 207 13.1.6.3.6. Lay products evenly Products at left side are laid evenly on screen of [Check/Delete] after registered. Lower part of products need to be laid evenly. Need to be laid evenly 13-17...
Page 208 Evenly laid products at lower part shows up on [Check/Delete] screen after registered. Let’s see how products are laid if different product sizes are entered on screen of [Check/Delete]. On the below example, only [Lower] is turned on so the upper part does not be laid evenly.
Page 209 Products are also laid evenly by blue doublet. [On-line] or [Both side] for blue doublet can be chosen. Blue Doublet Blue Doublet can specify products and gaps to be laid evenly. The horizontal doublet can be moved by [Up] or [Down] and the vertical one by [Left] or [Right].
Page 210 13.1.6.4. Even layer area (D) In custom pattern creation, even layer won’t always be the same as odd one so even layer pattern needs to be specified whenever. 13.1.6.4.1. Exact same pattern Even layer pattern is same as odd one. Odd layer Even layer 13.1.6.4.2.
Page 211 13.1.6.4.3. Rotated 180 degree pattern Even layer is of odd one rotated 180 degrees. Odd layer Even layer 13.1.6.4.4. Side by side mirror copy Even layer is of odd one of side by side mirror copied. Odd layer Even layer 13.1.6.4.5.
Page 212: Edit Custom Pattern
13.2. Edit Custom pattern Click on [Check/Delete] button at [Create custom pattern] to see the below screen of [Check/Delete]. You can walk through the custom patterns by clicking on [PREV] or [NEXT] button. If you want, see load shape with changing product size or delete some custom patterns you no longer need.
Page 213: Appendix
14. Appendix 14.1. System parameter & Others Setup In [System Parameters], [Enter names of peripheral equipment, extended axis setup], [Robot controller communication setup], [Servo parameter] and [SH firmware writing down], a correct password needs to be entered to protect important configuration data.
Page 214 14.1.2. Servo parameters 14.1.3. PLC setup 14-2...
Page 215 14.1.4. T, C and Extended axis setup 14.1.5. RC501 firmware 14-3...
Page 216: Error Log And Key Trace
14.2. Error log and key trace A correct password needs to be entered to view [Error log and key trace] as those are also important. Click on [Error log] button at main screen to display the below screen. 14-4...
Page 217: Trace Data Graph
14.3. Trace Data Graph A correct password needs to be entered to view [Trace Data] as those are also important. When [RISC output], [Servo torque data], [Torque measuring data] are uploaded from controller, those can be displayed on graph or be output as CSV file. Click on [Trace data] at main screen to display the below screen once data is uploaded.
Page 218: Files Inside Of Hard Disk
14.4. Files inside of Hard disk Setup OS: It is not necessary using by recommended OS. See section 7.6.3 for recommended Files and folders inside of installed location: Qm2J.exe: Execute program Qm2jloc.dll: Essential DLL of English screen displayed CapaJ.dll: DLL of capacity calculation tar32.dll: DLL of sequence comment translation support RcErLoc.bin: Essential file of error information displayed RcKyLoc.bin: Essential file of key trace data displayed...
Page 219: Editing Tool For Reference Pattern
14.5. Editing tool for reference pattern Editing tool for reference pattern means edit the standard pattern in OXPA-QmV (Call Internal pattern) and original registered pattern for each robot (Call Original pattern). This function is able to register the new pattern to Internal pattern and Original pattern.
Page 220 14.5.2. Create new reference pattern Just after the installation, it is able to select only Internal pattern. Following procedures are how to add the original pattern to certain robot. 1. OXPA-QmV has only one robot or register/erase all robots standardized stacking pattern, select the Internal pattern and edit.
Page 221 6. Select the robot which where you want to store from “Store allocation” field. 7. Click the “Save As…” button. 8. Now you create the Original pattern. 9. Original pattern file name will be indicated at main screen title. Saved as last saved file name. Next time when start; select the saved file name from menu bar-[File]-[Open].
Page 222 14.5.3. Registering pattern 1. Select the registering pattern from “classification” dialog box. OXPA-QmV has 12 classifications of the patterns. 2. Click once on the pattern. Your selected pattern diagram will be displayed on left side of screen. Select the same pattern style which you want to add. 3.
Page 223 7. Click the “OK” for register, Click “Cancel” for does not register. Registration level 1 and 2 is not necessary. This is special uses for Okura. 14-11...
Page 224 8. After the registration red colored “No” changes to green colored “Yes.” 9. Click the “Save” button from menu bar-[File]. Then this registered pattern is enabling to select. 14.5.4. List of all pattern delete 1. Select the “View/delete pattern.” Following screen will be displayed. 2.
Page 225 3. Click the “Search” button. Displays corresponded pattern from registered pattern. 4. Indicates how many patterns are corresponded and number of indicating pattern as above figure. Use “Prev” and “Next” button. It is able to delete the displayed pattern. 5. Select the “delete” button when you want to delete displayed pattern. 6.
Page 226 14.5.5. Print out for pattern 1. Select the “Print” form menu bar-[File]. Following screen will be displayed. 2. Setup the printing out range by entering the maximum and minimum of product/layer in “Maximum” and “Minimum” field. Do not change the selection in the “Registration pattern level.”...
Page 227 ROBOT Manual OXPA-QmV 01 Version: 2012.01.24 <Caution> Unauthorized reproduction of part or all of the content of this manual is forbidden. The content of this manual is subject to future change without prior notice. Okura Yusoki Co., Ltd.

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