Techman Robot TM Palletizing Operator User Manual page 164

Num. Parameter Name
19 Pallet2_Pillar_Height
20 Pallet1_Offset
21 Pallet2_Offset
22 Pallet1_Name
23 Pallet2_Name
24 Interval_To_Leave
25 Air_Pressure_Detection
26 Movement_Protection
27 Movement_Protection_Layer
28 Gripper_Sensor_Feedback
29 Pillar_Elongation
30 Pillar_Max_Elongation_CV
WARNING:
1.
2.
3.
TM Palletizing Operator User's Manual
Type
Int[]
Float [] {0,0,0,0,0,0}
Float [] {0,0,0,0,0,0}
" Pallet_0" Use TMstudio settings about right pallet name.
String
" Pallet_1" Use TMstudio settings about left pallet name.
String
Int
Bool
Bool
Int
Bool
Float
Float
Table 29: Advanced1_General_Parameters
Users may enable sensor detection function in parameter settings to prevent robot
elbow from colliding with boxes accidentally.
Users may enable air source sensor detection function in the parameter settings to
pause the system. They shall also confirm the air source sensor setting. If the system
shows "Air Source Pressure Too Low" message, it will cause PAUSE.
When the robot is operating over its joint limit (usually J6), it will cause the robot to
Product Version: 1.1 Document Version: 1.2
Default
Pallet2_Pillar_Height = {M, H1, H2,H3...... }
M = 1, use TMstudio settings; ignore parameter H
{1,......}
M = 0, use TMflow input value H
H = the relative height ( ㎜ ) corresponding to the
elevated pillar for each layer placed on the left pallet
Pallet1_Offset = {X, Y, Z, RX , RY , RZ }
X, Y, Z, RX , RY , RZ = Trimmed value for X, Y, Z, RX ,
RY , RZ position offset ( ㎜ , ㎜ , ㎜ , degree, degree,
degree) for right pallet
Pallet2_Offset = {X, Y, Z, RX , RY , RZ }
X, Y, Z, RX , RY , RZ = Trimmed value for X, Y, Z, RX ,
RY , RZ position offset ( ㎜ , ㎜ , ㎜ , degree, degree,
degree) for left pallet
The wait-time (ms) returning to relay point after box is
300
placed.
True: detect Pneumatic Air Source Pressure
False: does not detect the Pneumatic Air Source
FALSE
Pressure (if air gripper is not used, please set the
variable to False)
TRUE: detect if the boxes on the other side of pallet are
higher than the base
FALSE
False: does not detect if the boxes on the other side of
pallet are higher than the base
If Movement_Protection = True, the detection will be
4 triggered when the current pallet is being stacked to a
certain number of layers
Ture: enable gripper sensor feedback detection
Ture
False: disable gripper sensor feedback detection
Set the length of the pillar in use. 500 denotes the pillar
500
length.
Set the length value to go down for the rising pillar
500
before picking up.
Descriptions
164