Techman Robot TM Palletizing Operator User Manual page 163

Num. Parameter Name
9 Box2_Weight
10 Pallet1_Elevated_Height
11 Pallet2_Elevated_Height
12 Pallet1_Via_Point_Offset
13 Pallet2_Via_Point_Offset
14 Pallet1_Approach_XY_Z
15 Pallet2_Approach_XY_Z
Pallet1_Elevated_Height_Before
16
_Placing
Pallet2_Elevated_Height_Before
17
_Placing
18 Pallet1_Pillar_Height
TM Palletizing Operator User's Manual
Type Default
N = box weight (㎏)
Box2_Weight = {M, N}
M = 1, use TMstudio settings; ignore parameter N
Float[] {1,5}
M = 0, use TMflo input value N
N = box weight (㎏)
Pallet1_Elevated_Height = {M, N}
M = 1, use TMstudio settings; ignore parameter N
Float {1,200}
M = 0, use TMflow input value N
N = Elevated height once box is gripped (in Z direction)
Pallet2_Elevated_Height = {M, N}
M = 1, use TMstudio settings; ignore parameter N
Float {1,200}
M = 0, use TMflow input value N
N = Elevated height once box is gripped (in Z direction)
Pallet1_Via_Point_Offset = {M, X, Y, Z}
M = 1, use TMstudio settings; ignore parameters X, Y, Z
{0,-400,-
Float []
M = 0, use TMflow input values X, Y, Z
400,0}
X, Y, Z = The offset in X, Y, Z directions related to
Elevated_Height
Pallet2_Via_Point_Offset = {M, X, Y, Z}
M = 1, use TMstudio settings; ignore parameters X, Y, Z
Float [] {0,-400,400,0}
M = 0, use TMflow input values X, Y, Z
X, Y, Z = The offset in X, Y, Z directions related to
Elevated_Height
Pallet1_Approach_XY_Z = {M, X, Y, Z}
M = 1, use TMstudio settings; ignore parameters X, Y, Z
Float [] {1,30,300}
M = 0, use TMflow input values X, Y, Z
X, Y, Z = The approach vector X, Y, Z (㎜) upon box
placement
Pallet2_Approach_XY_Z = {M, X, Y, Z}
M = 1, use TMstudio settings; ignore parameters X, Y, Z
Float [] {1,30,300}
M = 0, use TMflow input values X, Y, Z
X, Y, Z = The approach vector X, Y, Z (㎜) upon box
placement
Pallet1_Elevated_Height_Before_Placing = {M, N}
M = 1, use TMstudio settings; ignore parameter N
Float[] {1,100}
M = 0, use TMflow input value N
N = dropped height once box is placed (㎜)
Pallet2_Elevated_Height_Before_Placing = {M, N}
M = 1, use TMstudio settings; ignore parameter N
Float[] {1,100}
M = 0, use TMflow input value N
N = dropped height once box is placed (㎜)
Pallet1_Pillar_Height = {M, H1, H2,H3...... }
M = 1, use TMstudio settings; ignore parameter H
{1,......}
Int[] M = 0, use TMflow input value H
H = the relative height (㎜) corresponding to the
elevated pillar for each layer placed on the right pallet
Product Version: 1.1 Document Version: 1.2
Descriptions
163