Validate - Techman Robot TM Palletizing Operator User Manual

Robot Initial Pose(Robot Base)
Motion Setting
Box Position (A)
Elevated Height (B)
Via Point Offset (C)
Box Approaching Vector X, Y, Z (D)
Placement
Vector
Elevated Height Before Placing (E)
(Z-direction height is considered as a
Pillar
Floor Distance Compensation
Safety Distance (㎜)

Validate

User can detect the potential errors such as unreachable points and collisions in space that
might happen during stacking, unstacking, and stack changing and estimate the total time
TM Palletizing Operator User's Manual
Parameter
Controller
Left/Right Pillar Layer
layer)
Table 27: Parameter Descriptions
Product Version: 1.1 Document Version: 1.2
Description
Use the controller to teach the corresponding posture
the robot before stacking or lifting the pillar up and
down.
The posture of the robot before stacking or lifting the
pillar up and down.
Set the motion of Elevated Height to Via Point Offset
and Via Point Offset to Placement Vector to PTP or
Line. (PTP recommended)
The robot position of gripping box.
The elevated height along Z-axis after the robot grips
the box.
Position relative to the Gripping Up point
Placement Vector
When the distance between the robot and other
detected objects is less than this parameter value, it
would be notified as collision.
Pillar
136