Page 1 M931E-06 Robot Manual Off-line teaching software only for A series robots OXPA-Qm II Okura Yusoki Co., Ltd.
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. S ) ................1-1 CREEN INDOWS 2. HOW TO CREATE NEW PROGRAM (BASIC) ........2-1 2.1. T )............2-1 EACHING IVEN BASIC DATA TO ROBOT 2.2. C ................. 2-3 REATE THE NEW PROGRAM 3. HOW TO CREATE NEW PROGRAM (PRACTICAL) ......3-1 3.1.
Page 5: Preparation
1. Preparation This section explains the Screen (Windows) structures and basics before start create the new pattern. 1.1. Screen (Windows) After installed OXPA-QmII to your Computer, click [Start]-[Programs]-[Okura]-[OxpaQm2], then following screen (Window) shown onto your Computer. Click the [Start] button. OXPA-QmII asks input the serial number just after the installation.
Page 6 1.1.1. Security (Password) Now you have to check the password. This password prevents the changing Robot system parameters by unauthorized operators. Just after the installation, the Password is unregistered. Leave the Blank for the password then click [Enter]. For registering the Password, please see section 8.2.11. When the Password is correct all functions are able to use.
Page 7 1.1.3. Menu bar The menu bar is formed [ Job selection ] [ Registration ] [ Teaching ] [ Utilities ] [ Help ] [ Exit ] 6 handles. [ Registration ] [ Teaching ] [ Utilities ] [ Help ] It is constituted to class. Menu constitution is as follows.
Page 8 Registration System parameter Servo parameter...
Page 9 End effector and station Teaching Utilities...
Page 10 View/delete Program Transfer program Backup...
Page 11 Password registration Help...
Page 12 1.1.4. Tool bar The screen which is used frequently by OXPA-QmII is designated as the icon. With the click by the mouse, it can open the screen simply. ICON Screen Function Job selection New it can register job and it can select. Position Position of the station conveyor and pallet conveyor can be registered.
Page 13 Print out You can do the print out of the teaching program. You can also output to a text file. About DIY The version of DIY soft pack II is displayed. soft pack II...
Page 14 1-10...
Page 15: How To Create New Program (Basic)
2. 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. 2.1.
Page 16 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. Pickup position This position is automatically calculated from the following data, without moving a robot.
Page 17: Create The New Program
2.2. Create the new program For creating new program, you just have to follow the screen and input values and register the position. This section explains how to create new carton box pattern for example. Proceed from following screens. 1. Input product dimension. 2.
Page 18 2.2.1. Input the product dimension Set up the Product data Input dimension data screen opens from Menu bar [Teaching]-[Create/delete program…]. Also you can open this screen from tool bar icon New program number Please choose program number from 1 to 999 except program number 0 and from 901 to 972.
Page 19 Product dimension Input product Length (L), Width (W) and Height (H) in millimeters (mm). Product Length is measured in the direction of flow at station conveyor. Please see following figure. Note Length L in the case of turning When products may or may not be turned at the station conveyor (turning selected at pattern creation) the length is in the direction of flow before turning.
Page 20 Only when the "Pick both 1st and 2nd station" mentioned at "6.6. Default setting" is ON, two station numbers are entered. When palletized from one station only, enter the same station number to both. Pallet station: The “Pallet” is the point where the product is palletized at. Sometimes the “pallet” is also referred to as the pallet station or pallet conveyor.
Page 21 Inching distance: When the “D1, D2, D3, D4” button is clicked, the current inching distance is displayed for the new program. When you need to change the value input values in this field. Depalletizers: Turn on when you make the teaching program of De - Palletizing. Note About inching distance Inching rise distance above station (D1):...
Page 22 value from reference program. D3L is D3 (Standard value which used by robot controller) minus product height. For bag application, robot decent until height is Step 5 (MOV5) plus [Step 7(Mov7) + Product height + D3L] then drop the bag. Normally set the D3L value “0.” Inching rise distance above pallet (D4L): During operation the robot moves from Step 7 (MOV7) to Step 8 (MOV8), during the move the robot moves vertically by a fixed distance...
Page 23 2.2.2. Select Stacking Type Click the “Next page” button on the input product dimension screen, following screen opens. Please input followings information. Maximum No. of layer: The filed displays the maximum quantity of layers which can be stacked. The value is automatically calculated, but can be reduced if preferred.
Page 24 No. of layers: This field displays the actual if layers that will be stacked. The actual quantity of layers that will be stacked must be at or below the maximum quantity of layers to be stacked. Picks/layer (Product per layer): This is the amount of products per layer required in the pattern.
Page 25 OXPA-QmII calculation: d = H - ((Ha - H) / (L-1)) d: Shrinkage value OXPA-QmII images of per layer height H - d H - d H - d H - d Max of multi-pick: Enter the maximum pickup in one time in this field when create multi pickup pattern by automatically.
Page 26 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. Note Once 1 layer is fixed, Interlock type pattern created by automatically...
Page 27 1. Stacking pattern is not liner symmetry from both side of pallet, even layer will be 180 degrees turned. Odd layer Even layer Over lap 2. Stacking pattern is bilateral symmetry, even layer will be 90 degrees turned. Odd layer Even layer Over lap Load size:...
Page 28 There is the following option in stacking type. Extra E/O layer: The “Extra E/O layer” option allows the programmer to select alternating layers, but choose two completely different patterns. During pattern selection the programmer selects the pattern for layer 1 and the layer 2. The “Extra E/O layer” option forces the product on the pallet to be stacked at the predominating pattern edge making the load perimeter a cube.
Page 29 applications are set up to included spacing between products and this function removes it. Exchange gaps (Palm, product): The “Exchange gap (palm, product)” option is able to create pattern with exchanging the hand gap and work gap. Note Turned all product: When all product turns click the “Exchange gaps (palm, product).”...
Page 30 Horizontal direction is PW, and the vertical direction is PL. Overhang setting on PL side Pallet Dimension of PL side Overhang setting on PL side A stacking pattern size when stowing it repeatedly Dimension of PW is an area including the overhang.
Page 31 When "Surface united overlap" option is selected, it is not possible to use it together with options other than "With product repeated" group box. The stacking pattern automatically made can be fine-tuned in the expansion display. Note Fine-tune The positional data adjustment in the expansion display is called "Fine-tune". Even when the option with the product is not used repeatedly, the stacking pattern of palletizing can be fine-tuned.
Page 32 Note Stacking pattern and attribution of options Your chosen stacking pattern and option for stacking pattern attribution and registered for reference pattern will be different. Option: K: Extra E/O layer E: Extra top layer P: Surface united T: Tight top layer M: Multi place N: Compression H: Exchange gaps (palm, product) V: Surface united overlap...
Page 33 Condition of after stored for reference pattern Option Post registration type type Type 2.2.3. Choosing Pattern There are approximately 2,000 standard pattern configurations stored in OXPA-QmII and you can chose from these. Some patterns are not stored in memory, but are 2-19...
Page 34 common to a particular application. In most situations these patterns are created manually and then registered for selection in the future. To register the pattern select this button after a program has been created manually. Registered patterns are displayed the next time the “Pattern” button is selected. If there are no user registered patterns, the message “Please select pattern”, which was registered by user”...
Page 35 Use the pattern from OXPA-QmII standard pattern: The “Pattern” button stands for “Pattern selection.” When this button is “clicked” the available pattern configurations are displayed in the “Pattern Selection” dialog box. There are approximately 2,000 standard pattern configurations stored in memory to select form depending on the parameters selected such as the “Picks/layer”, pallet size and product size.
Page 36 2.2.4. Pattern registration for each Robot You can save the stacking pattern for each Robot which is separate from OXPA-QmII standard pattern. This stacking pattern call “Peculiar pattern of each robot”, abbreviation is Peculiar pattern. Peculiar pattern file name shows on the main screen title when selected robot has Peculiar pattern.
Page 37 If you want to use stacking pattern for all robot, you have to register the stacking pattern by using “Create/delete program” tool for adding stacking pattern to memory. Following screen is shown the renewed stacking pattern. Now you can select from new added 12 patterns.
Page 38 2.2.5. Sending the Program to Robot From “Stacking type” screen you can send the program to robot by click the “Transfer.” Form menu bar-[Utilities]-[Transfer program]-[PC to robot] you can chose the program which you want to send to robot then you can send the program to robot. Also by changing the sending program number, you can send programs inside of PC to robot with different program number.
Page 39 2.2.6. Unable to sending the Program to Robot When you can not send the program to the Robot, followings are causes. 1. Start up OXPA-QmII without serial number. 2. Communication method is “No communication” 2.1. Check the communication method set up is correct. 3.
Page 41: How To Create New Program (Practical)
3. 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. Please read this section for following subject. 3.1.
Page 42: Ariable Pick Up
3.2. Variable pick up For Carton box, usually uses standard Carton box hand (End effector). As following figure product stacking direction is fixed. Vacuum Product direction of stackable Χ Product direction of unstackable Therefore some product is unable to make label is outside (as below figure square mark is label).
Page 43 Following figure is “Labels out” pattern. You can see 1 layer 4 product and 2 layer 1 , 3rd, 4 layer are “Labels out.” 1st layer 2nd layer Note After the selection of “Variable pick”, in standard sequence program hand turns 180 degrees between step 9 (MOV9) to Step 1 (MOV1). For prevent this move the ENCHK and COUNT commands before Step 9 (MOV9) as below.
Page 44 3.3. 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-QmII memory. For Carton box select [Parameter setting]-[Default]-[Manual stack sequence] to “NO” stacking order is fixed by OXPA-QmII automatically.
Page 45 Graphic representation of the product Light blue: 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 Functions using this dialog Left “Click”: Select product.
Page 46 Above figure shows 1 and 2 products are single pickup, 3 and 4 products are double pickup, 5 and 6 are double pickup, and 7th and 8 products are double pickup. For single pickup, select the product by clicking “Left” then click again for determination.
Page 47: Multi Layout
3.4. Multi layout The term “Multi-stacking” refers to a layout pattern like that in the diagram below, with multi pallet positions and station conveyors. 1. 1 station conveyor and 2 pallet positions While a new pallet is provided in one side, articles are stacking in the other pallet. Product types of 2 different kinds are stacked separately in different pallets 2.
Page 48 With an Okura A series Robot Palletizer, one station and one pallet are defined in one program. However, stacking with multiple station conveyors and multiple pallets can be done by switching between and executing a number of different programs. For Example: Layout is 1 station conveyor and 2 pallet positions Program 1: For pattern “A”...
Page 49: Py Mode
3.5. PY mode When stacking in a Pyramid shape (PY mode) for rice pallet, etc., the program is created using the PY 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 50 Following figures are before using PY mode and after using PY mode. The “fixed effective width” does not change positions in PY mode. Out side “fixed effective width” or inside of “fixed effective width” are decided by position of product center.
Page 51: Checking Pattern And Modifying
3.6. Checking pattern and Modifying This section explains how to check the stacking pattern, side view of pattern, 3D view pattern, enlarge the pattern on the display and over lap. 3.6.1. Stacking pattern Planner (2D) stacking pattern will be displayed. By clicking “Up” or “Down” displaying layer will be change.
Page 52 3.6.3. 3D view By 3D view function you can see your created pattern from top of corner (3D view). Also you can simulate the stacking order with graphic. [|<]: Start from beginning. Displays only empty pallet. [<<<]: Rewind the pickup quantity products for multi place. [<<]: Rewind the pickup quantity products for multi pick.
Page 53 3.6.4. 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 54 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 55 The above figure is immediately after clicking "Stop ope" button. The changed positional data is reflected when "OK" button is clicked, and it returns to the OXPA(2/2) screen. The content of the change is canceled when "Cancel" button is clicked, and it returns to the OXPA(2/2) screen. 3-15...
Page 56 The above figure is immediately after clicking the "OK" button. The changed positional data is displayed. Note: The teaching program doesn't have the history of fine-tuning. Therefore, it returns to the pattern before it fine-tunes it when making the fine-tuned program "It is a pattern structure as for the succession data"...
Page 57: Changing Layer Data
3.7. Changing layer data You can change the created pattern’s pattern and stacking order by each layer (Pattern changing is only when created pattern is “Special” type). 3.7.1. Changing pattern by layer Inside the OXPA (2/2) screen you can find the “Modify” group box. Choose the changing layer into layer list box.
Page 58 3.8. Adding original pattern to OXPA-QmII When you can not find your pattern inside of OXPA-QmII standard pattern memory, you can create original pattern from “Read created stacking pattern.” 3.8.1. Product positioning 1. Select the “Manual” button from pattern selection screen. 2.
Page 59 7. Now product displayed on the pallet corner. 8. Then click “Add” button. Now new product displayed. 9. Change the product direction and Green colored mark. 10. Click “Left” at corner of product on the pallet. Green colored circle marked corner and selected corner of product on the pallet attaches each other.
Page 60 3.8.3. Move the product position 1. Click “Move” button. 2. Click “Left” on the product which you want to move. 3. Your selected product outline color changed to Green. 4. Click the “U”, “D”, “L” or “R” buttons in the top right corner of screen. 5.
Page 61: Multi Place
3.9. Multi place This function is pickup more than one product from station conveyor and place the product onto the pallet individually. 1. Input maximum quantity of pickup in “Max of Multi-pick” field. 2. Select the “Special” type for pattern. 3.
Page 62 The following figure shows pickup 3 products in one time and placing by 2 cycles. Number of cycles is [A and B] and stacking order in the cycle is [1, 2 and 3]. 7. At last you have to place 2 products. Following example is pickup is 3 products and placing 2 products.
Page 63: Editing Program
4. Editing program This section explains how to edit the created program. Also explains program structure for helping you when edit program. 4.1. Program structure This section explains structure of program data. 4.1.1. Inside of Hard disk OXPA-QmII has following data 1.
Page 64 4.1.3. 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 65 Structure of program data Robot folder System parameter Com setting data Servo parameter DSP Boot file DSP Program file Error Information Program data Program parameter Program data Sequence program Step Auxiliary data Step data Step data Step parameter Position coordinate Lay, 1 product lay, 2...
Page 66: Diting Program
4.2. Editing program 4.2.1. Copy and delete Copy and delete instructions for program inside of memory are as followings Copy 1. Select [Utilities] from menu bar then select [Program copy] 2. Select the program which you want to make copy. 3.
Page 67 4.2.2. Editing detail of program 1. Select [Teaching]-[editing program] from menu bar. List of program displayed as following figure. 2. Select the program which you want to edit and reference. 3. Select the editing function from right side of screen buttons. Detail of each function explains in section 4.2.3 to 4.2.8.
Page 68 4.2.3. Editing Program parameter This section explains each screen for editing program parameter. Program parameter (1/5) Comment: Change the product name for program Height: After changed height of product, up to 2 layer height data will be shifted. Weight: After changed weight, robot acceleration and deceleration speed will be changed by automatically.
Page 69 Program parameter (2/5) Actual stacking layer: Input the actual stacking layer to “Stacking layer No.” field. Only when the "Pick both 1st and 2nd station" mentioned at "6.6. Default setting" is ON, two station numbers are shown at the program newly created.
Page 70 Program parameter (3/5) The number of products of each layer is displayed. Program parameter (4/5) Inching rise distance above station (D1) Standby position above pallet (D2x, D2y, D2z) Inching descent distance above pallet (D3) Inching rise distance above pallet (D4) Above 4 functions are able to change.
Page 71 Program parameter (5/5) Planer position of Step6 (ADN) Select the planer position for step 6(ADN) to one of the following figures. Step 5 Step 7...
Page 72 Height of Step8 (CLW) Select the planer position for step8 (CLW) to one of the following figures. Standard Step 9 Note If station conveyor is higher than pallet and end effector hits the station conveyor during stacking, select step 9. Step 5 (APR) Select the T-axis movement from step 5 to step 6 Parallel to LOD...
Page 73 Step 10, Step 11 Select need step10 or step 11. Note Step 10 command is “APU” and Step 11 command is “PUP.” See section 4.2.5. [Editing Step parameter] for detail of step command. Step 5(APR) height Select the planer position for step 5 height is equal to step 4 height. Not use step 10 Standard Step 4...
Page 74 Inclined movement setting Select the “YES” or “NO” for inclined movement What is inclined movement? With this mode, Step 10 and 11 are added as intermediate points between the pallet and station in order to achieve greater capacity. Setting can not be done if step 10 and 11 have already been used, or if there is a level which has been set for the same level with a special stacking program.
Page 75 4.2.4. Editing Sequence program The sequence program 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 76 [Find] To input the string which is found in the edit box [ Find ] it find with the button. [Replace] It inputs the string and the string after the replacing are find in the edit box, [ Replace ] it find or replace with the button. The string which is selected the string which is found in same case it replace, when it is different, it find the string.
Page 77 4.2.5. Editing Step parameter This section explains how to edit the step parameters. 1. Select the program from editing program list box or reference program list box. 2. Double click the selected program. 3. Replace data field values will change to as selected program. 4.
Page 78 [Cancel] By clicking “Cancel” all changes are canceled. Each step parameter is explained in the following. Step command: The relationship between position coordinates of different steps is determined by a step command. When creating a new program, position storage is performed for steps 2, 3, and 7 only.
Page 79 Overlap This designates the precision of the stop/pass range for this step. There are five parameters FUL, HLF, QRT, ZRO and SPC, which increase in precision in that order. However precision of the move coincides with the axis in system parameters when SPC is selected.
Page 80 Step commands and position coordinate calculation formula list Step Calculation formula Position coordinate Concept Z shift command HWT(RZ)=STA(RZ)+D1 -Position D1 above STA step Ο 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 Ο...
Page 81 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 =0, Not shifted =X The position command list Change in position data due to Command...
Page 82 4.2.6. Editing Step auxiliary data This section explains how to edit Step auxiliary data. 1. Select the program from editing program list box or reference program list box. 2. Double click the selected program. 3. Replace data field values will change to as selected program. 4.
Page 83 If dropping form above is designated, LOD position will shift up the distance defined as D3. Dropping from above function is able to use for only Bag palletizing. Pickup direction This is effective only when variable pick-up is designated. 0 or 2 can be selected. Depending on the selection, the STA and HLD step position are designated in the following way.
Page 84 4.2.7. Editing Step position coordinate This section explains how to edit Step position coordinate data. 1. Select the program from editing program list box or reference program list box. 2. Double click the selected program. 3. Replace data field values will change to as selected program. 4.
Page 85 [Coordinate selection] Change the edit program and reference program coordinate measurement such as Arm coordinate or Hand coordinate. [Pallet coordinates] This coordinate indicates the center of product from pallet origin point. Pallet Pallet origin point Opposite side of pallet origin point [Station coordinates] This coordinate indicates center of T-axis from center of station conveyor stopper.
Page 86 [Arm coordinates] This coordinate indicates from position of point A to origin point of robot. [Hand coordinates] This coordinate indicates from center of T-axis to origin point of robot. [Ref copy] group By clicking the [All], [Surfc] or [hght] buttons, change the selected position in the editing box values change to the values in the reference box.
Page 87 4.2.8. C axis position registration Positional data is edited with the addition and the deletion of the step of C axis. OXPA-QmII calculates three from step 1 of C axis automatically. Each step is 1: close position and 2: open position (release product) and 3: position of opening completely.
Page 88 4.2.9. 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 89 4.2.10. SPZ conversion It must convert the stacking type to SPZ when all layer, all product have height data individually. Instruction is as follows. 1. Input base program No. (Program which you want to convert to SPZ) 2. Input program No. after converted to SPZ. 3.
Page 91: Robot Selection
5. Robot selection This section explains how to make new program folder into OXPA-QmII 5.1. Outline of Robot selection OXPA-QmII is able to store different robot data in one computer. Data inside of Hard disk or Floppy disk are able to read by selecting drive or folder. Also you can save different programs into same folder.
Page 92: Robot
5.4. Robot Robot filed displays all of robot name and comment underneath of current directory (Folder). Double click the program which you want to edit or checks then click the “Close” button for close this screen. Important! If a "Registration"-"Robot type" command is chosen by the menu bar, although robot's model can be changed, since it becomes the cause of troubles, such as incorrect operation of a robot, please do not use it.
Page 93: Parameter Setting
6. Parameter setting Parameter has important robot setting data. For protection of data register the password. OXPA-QmII asks input the password only once at executed. For setting password execute the password command. From menu bar-[Utilities] - [Password registration], for first execute the OXPA-QmII leave the blank in the password field.
Page 94 Teaching area: The teaching limit determines the area where robot teaching is possible. The teaching area confines the standard pattern size to points within the range. Points outside the teaching area and within the soft limit range can be stored as positions of a pattern.
Page 95 When the robot type "GANTRY" is Teaching area: The teaching limit determines the area where robot teaching is possible. The teaching area confines the standard pattern size to points within the range. Points outside the teaching area and within the soft limit range can be stored as positions of a pattern.
Page 96 Acl and dcl time: The “Acl and dcl time” is used to determine the acc-dec time for standard robot movement, (Units: m sec). When 0 is input as an acc-dec coefficient in step parameters this time is used to help generate robot motion. 6.1.2.
Page 97 6.1.3. Memory switch The memory switches are used as method to control function allocated at the CPU board. The switches are set at factory and are crucial to the robot performing well. You can display this screen from menu bar-[Registration] - [System parameter] - [Memory switch].
Page 98 Factory Name Type default Variable picking for Height of step 9 at 1st work / Standard motion speical case 1st layer is changed to exact same as that of last layer cycle. It moves like variable picking. If arm / end effectro may seem to hit peripheral conveyors, the swich is to be turned ON when the program...
Page 99 Factory Name Type default # of conveyors in 30 or less 15 or less manual operations through Centronics communication Timer value setting In use Not in use screen (14) pallets In use for specific layout only. Not in use (The number of pallets set is (The number of discarded.) pallets set is used.)
Page 100 6.1.4. Accuracy The accuracy dialog box contains accuracy parameter and coordinate system offset parameters. Select from menu bar-[Registration]-[System parameter]-[Accuracy]. Accuracy screen displayed now. This determines how accurately the robot will locate its position. The more precise of location required the longer amount of time it takes to reach to position.
Page 101 6.1.5. GANTRY Setup When the robot type [GANTRY] is only, it is setting possible. Select the “GANTRY Setup” command from menu bar-[Registration] - [System parameter] - [GANTRY Setup]. GANTRY Setup screen will display. Setup or select the each content. These setups are motion for using by robot, not for OXPA-QmII.
Page 102 6.1.7. Servo parameter The Servo parameter dialog box contains servo motor parameters. Select from menu bar-[Registration]-[Servo parameter]-[parameter (07)] command. Check or change the servo motor parameters for using robot. 6-10...
Page 103 From menu bar-[Registration]-[Servo parameter]-[parameter (33)], check or change the setting of the servo motor. Important! By the 2 axis robot (A700II-P, A1600II-P, and BltJr), reference and edit of R axis and T axis cannot be performed. 6-11...
Page 104 6.1.8. Save the parameter data After all the settings are done click “OK” button for save the settings. Click “Cancel” for canceling the all changes. Remarks for System parameters from section 6.2 Note Following diagram explains how to indicated the position data of program after the changing parameters.
Page 105: Hand Data
6.2. Hand data Hand (End effector) parameters are standardized measurements used by the OXPA-QmII software in calculations. The calculations determine the necessary pick up and set down positions of the pattern program. Some parameters are also used in preventing miss-programming of positions that would produce crashing or invalid positioning.
Page 106 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. Different hands (end effector) are used for different stacking situations and the positions of the products differ on how they actually positioned relative to the robot.
Page 107 STA-HLD: The auxiliary palm is aligned with one side of the station conveyor during pick up. With fixed pick up, the auxiliary palm will be aligned with the side of the station as selected in this field. The right side of the station is referenced as if the programmer were sitting on the product as it contacted the product stop.
Page 108 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 109 First finger: To calculate the position of the fingers, OXPA 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 110 For vacuum hand (end effector) the frame depth is used in calculations to account for the collapse of vacuum cups. The frame depth is the distance from the hand (end effector) mounting flange surface to the bottom of vacuum cups when the hand (end effector) is under vacuum holding onto product.
Page 111 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 112 Gap of prd on sta: The crevice is inputted, when leaving a crevice and holding two conveyance things on a station. Hand Product Product Station Station conveyor position Gap of prd on sta Note: Please the following station information must make the type in "Positional, fixed type"...
Page 113: Tation Data
6.3. Station data Station conveyor parameters include standardized information about the pick up location (station) used by the OXPA software in calculations, but does not includes its position. The station conveyor that is desired must be selected by the programmer. Stations 1, 2, 3, or 4 are available for selection.
Page 114 Palm direction above conveyor: By the default hand (end effector) is required to have a standard position above the pick up direction. Then hand (end effector) paddles are always set parallel to flow to be prepared to pick up the product. The palm direction above conveyor dictates if the right of left palm will be on the right or left side of the station conveyor (Facing the fixed stop on the station).
Page 115 Side label dir above conveyor: This is set only ｗhen the "Pick both 1st and 2nd station" mentioned at "6.6. Default setting" is ON. Along the flow direction of the products, side label direction is set to "right side " or "left side". If there are side labels at both sides, major side is recommenced to use.
Page 116 6.4. Station position The position parameters include standardized position information about the station conveyor position (product pick up location) and pallet conveyor position (loaded building pallet location). Select menu bar [Registration]-[Endeffector/Station]-[Station conveyor] command for register the station conveyor and pallet station position. Or click the icon .
Page 117 3. The station angle (Ht also referred to as Hα) is determined by the combination of the product travel direction and the + direction of the robot’s Hx-axis. The set the station angle to clockwise (with minus) or counter-clockwise (with plus). Note Unused station conveyors can not select or register the origin point.
Page 118 6.4.2. 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 119 6.4.3. Registering pallet origin point The pallet conveyor position is made up of two points on the pallet which help determine the stacking location for the products being palletized. These two points determine the pallet origin and give us the pallet coordinates used during programming.
Page 120 Pallet width orientation: When pallet parameters (pallet size) are defined, one side is registered as the width (PW). PW is always referenced to the front of the pallet. In the “Pallet width orientation” (Formerly “Approach for fork lift”) field, the pattern selection will depend upon which side of the pallet side of the pallet is contacting the pallet stop (i.e.
Page 121: Registering Pallet (Pallet Parameter)
6.5. Registering Pallet (Pallet parameter) 6.5.1. Registering Pallet Pallet parameter defines the size, product overhang limits and forklift direction. The pallet orientation to the robot is referenced by the forklift direction. PW (pallet width) is always the side which is received by the pallet. Up to a 10 different pallet arrangement can be stored in OXPA-QmII Select from menu bar-[Registration]-[Pallet parameter] command.
Page 122 6.5.2. Deleting Pallet To delete a previously stored pallet, input the pallet type at the “Pallet type” field on the “Pallet parameter” dialog box, and click the “Delete” button. In response to the message “would you like to delete the pallet type?” click the “OK” button and the corresponding pallet will be deleted.
Page 123: Default Setting
6.6. Default setting The default screen allows the programmer to set certain global programming parameters which affect pattern stacking options. These default values are used during initial pattern creation. Select from menu bar - [Registration]-[Default value] command. Default screen displays. After set the default values click “OK” button for store. 6-31...
Page 124 6.6.1. View point of Pattern (Stopper direction) The stopper direction “list 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 125 6.6.3. Stacking order This function is used to let the programmer to designate the stacking sequence manually. If the programmer desires to manually and bag palletizing set the stacking sequence select “YES.” If the programmer desires the pattern sequence (including stacking order, approach, and product direction) to be automatically determined by OXPA-QmII select “NO.”...
Page 126 6.6.5. Corner proportion Defines the distance required for product overlap. This allows OXPA-QmII to restrict pattern which overlap products too little supported by the corner of the product beneath. ｘ = (Roundness of the corner of a conveyance thing) + (margin for not collapsing) Note Relationship between Center proportion and corner proportion All corners have contains (weight) this product is OK.
Page 127 One corner or none of corner have contained (weight); check the overlap with underneath of product. If all circle (see following figure) area overlapped this product is OK. 6.6.6. Length of Hand changing Set the maximum product length for pick up by small hand. Small hand is “Hand 1” and large hand is “Hand 2.”...
Page 128 6.6.8. Maintenance check cycle The motor power on time, every passes cycle, message is indicated in touch panel of the robot controller. 6.6.9. Approach (For special uses) This value can be set to change the approach of the top layer differently than the other layers.
Page 129 The big and small limit determines the size which a box is small or big. If the value is 400mm, then any product larger than 400mm will be classified as big. 6.6.13. Maintenance mode Click this dialog box when use Robot maintenance function. Normally do not check this box.
Page 130 much and it inputs it with the %. Please decide it referring to the following content. W size L Size % of a overlap is explained to an example for the upper conveyance thing. ...
Page 131 Note What is Overhang 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 133: Standard Movement Pattern
7. Standard movement pattern OXPA-QmII already has standard movement pattern. Movement pattern is saved as program. Program No. and use 1) 901 to 924: Reference program for carton box palletizing 2) 925 to 948: Reference program for bag palletizing 3) 949 to 972: Reference program for de-palletizing Reference contents from above programs 1) Sequence program (such as hand open/close, external I/O for control) 2) Step parameters (such as speed, stopping accuracy)
Page 134 For example 2: Movement pattern of stacking to 2 layer of 3 product on to the pallet is as followings figure. In both cases, the robot passes through 9 positions 1to 9. In this way, 1 to 9 is standardized, regardless of the layer and work being stacked, and in a program these are called steps.
Page 135 Sequence Characteristics of position Step Position At end of At start of movement movement Standard position Open hand 1, 2 -Fixed regardless of the Select program above station layer and word -Position above 2 Down position above -Fixed regardless of the station layer and word Pick up position...
Page 136 7.2. Standard movement pattern Sequence programs and step parameters are given below for standard movement. 7.2.1. Bag palletizing (Station No.1 Pallet No.1) Sequence program Command Explanation Command Explanation MOV 1 Move to step 1 WTARM Waiting movement completion Y001D=0 Hand open M6002=0 Station loading enable OFF Y001C=1...
Page 137 [Step parameter] Command Speed Overlap PTP/CP Select coordinates Step Position When special stacking ALT is ALL...
Page 138 7.2.2. Palletizing case When station NO. 1 and pallet No. 1 are selected [Sequence programming] Command Explanation Command Explanation MOV 1 Move to step1 WTCON M5002 Waiting for pallet detection Y001D=0 Hand open MOV 6 Move to step 6 Y001C=1 Hand open Y001E=1 Hand open...
Page 139 [Step parameter] Command Select Speed Overlap PTP/CP coordinates Step Position When special stacking ALT is ALL...
Page 141: Appendix
8. Appendix 8.1. Files inside of Hard disk Setup OS: It is not necessary using by recommended OS. See section 8.3.3 for recommended Files and folders inside of installed location: Qm2.exe: Execute program Koho.dat: Standard pattern and original pattern data Refprg: folders for reference program (Copied to under the new registered program).
Page 142: Dministration
8.2. Administration 8.2.1. List of program and delete Enables the programmer to view (view only) and delete existing program numbers and comment stored in the personal computer or robot control panel. Delete programs are inside of programmer computer: 1. Select the command from menu bar-[Utilities]-[View/delete program]-[PC]. Or you can display this screen by clicking on icon 2.
Page 143 Delete programs are inside of programmer computer: 1. Select the command from menu bar-[Utilities]-[View/delete program]-[Robot]. 2. Displays the “View/delete program in Robot” screen. 3. Select the delete program(s) or click the “change all” for select all programs. 4. Click “delete” button. 8.2.2.
Page 144 From programmer Robot to PC: 1. Select the command from menu bar-[Utilities]-[Transfer program]-[From robot to PC]. Or you can display this screen by clicking on icon 2. The programs stored in the Robot will be displayed on the “Transfer program from Robot to PC”...
Page 145 8.2.3. Print out To assist in the programming and training, the pattern parameters can be printed using this function. 1. Select the command from menu bar-[Utilities]-[Print out]. Or click the icon 2. The “Print out” dialog box will be displayed. 3.
Page 146 8.2.4. Copy Used to copy programs from one program number to another program. 1. Select the command from menu bar-[Utilities]-[Program copy]. Or click the icon 2. The “Program copy” dialog box will be displayed. 3. Click once on the program number to be copied. Highlight and change the “Dst prog no.”...
Page 147 8.2.5. Global remake Select the command from menu bar [Utilities]-[Global remake]. 1. Remake by one Remake the program from basis program which is based on this program. Not necessary to search. It is able to select the only pattern structure for succession program.
Page 148 pattern structure does not change because pattern structure can not succeed. Surface united pattern will be change. 1. Input basis program No. 2. Click the “search” button. 3. Click once on the program number from displayed screen. Click the “all changes” for select all.
Page 149 8.2.6. Back up Select the command from menu bar-[Utilities]-[Backup]–[Backup]. Save to Floppy disk: Insert the formatted disk to Floppy disk drive. Then click the “Done” button. Current robot folder will store to the floppy disk. Restore form floppy disk: 1. Select to be copied program from “Source drive or robot” field. 2.
Page 150 8.2.7. Error content This operation is to upload the error history log from the robot control panel to the personal computer. 1. Select the command from menu bar-[Utilities]-[Error content] 2. Error content screen displays. 3. Click on “Exit” when completed. 8.2.8.
Page 151 8.2.9. Indicating the Tracing data This function is indicating the Trace data (Position, Speed) onto screen. This function is available when the “Default” screen “Maintenance” box is checked. 1. Select command from menu bar-[Utilities]-[Tracing data display]. 2. “Indicating Tracing data” screen displays. There is no Trace data in the OXPA-QmII program just after the installation and even you can not select from menu bar.
Page 152 8.2.10. Servo Torque data This function is indicating the servo motor torque data (Speed, Torque) onto screen. This function is available when the “Default” screen “Maintenance” box is checked. 1. Select command from menu bar-[Utilities]-[Servo torque data display]. 2. “Indicating Servo torque” screen displays. There is no Servo torque data in the OXPA-QmII program just after the installation and even you can not select from menu bar.
Page 153 8.2.11. Comment file allocation setting 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. 2. Comment file allocation screen displayed. 3.
Page 154 8.2.12. Registering Password Password protection is available to allow only authorized personnel to access the robot parameters via OXPA-QmII. When the password has been set, the programmer will be required to input the password at the “Refer to password” dialog box, and click the “Enter”...
Page 155 8.2.13. Communication method For the personal computer to communicate with the robot control panel the communication port must be selected. 1. Select the command from menu bar-[Utilities]-[Communication method]. 2. The “Communication method” dialog box will be displayed. 3. Click on the “Communication thru RS232-C (COM1)” choice. 4.
Page 156: Or First Uses
8.3. For first uses 8.3.1. Software package This package include following item. 1. OXPA-QmII software 2. OXPA-QmII cable (Cable for PC to Robot) 3. English manual 8.3.2. Usable Robot Usable robot type for OXPA-QmII A1600II, A1200II, A700II, and A400II of Japanese version and English version. Note OXPA-QmII cannot be used to A1600, A1200, A700 and A400.
Page 157 8.3.4. Operating Flow chart As following flow chart, Setup and robot registration procedure is only one and daily operation is after the changing product dimension. Start Already set up? Setup OXPA-QmII Input the Serial Registered the robot? Procedure for only at very first time Register the robot, Select the robot type...
Page 158 8.3.5. OXPA-Qm II setup and start 1. Insert the OXPA-QmII disk to CD drive. 2. Select the “SETUP.EXE” from Explore. Or from menu bar-[Start]-[Run…]. 3. Execute “SETUP.EXE” program 4. Proceed as displayed screen or messages. 5. Input the Serial No. when OXPA-QmII asks to input the ten digit serial No. For Win XP and Windows 2000, only the Administrator or user with Administrator rights can install this software.
Page 159: Diting Tool For Reference Pattern
8.4. Editing tool for reference pattern Editing tool for reference pattern means edit the standard pattern in OXPA-QmII (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 160 8.4.2. 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-QmII has only one robot or register/erase all robots standardized stacking pattern, select the Internal pattern and edit.
Page 161 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 162 8.4.3. Registering pattern 1. Select the registering pattern from “classification” dialog box. OXPA-QmII 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 163 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. 8-23...
Page 164 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. 8-24...
Page 165 8.4.4. List of all pattern delete 1. Select the “View/delete pattern.” Following screen will be displayed. 2. Input the product quantity to be displayed in “Product/Layer” field. 3. Click the “Search” button. Displays corresponded pattern from registered pattern. 8-25...
Page 166 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 167 8.4.5. Print out for pattern 1. Select the “Print” form menu bar-[File]. Following screen will be displayed. 2. Setup the printing out range by input the maximum and minimum of product/layer in “Maximum” and “Minimum” field. Do not change the selection in the “Registration pattern level.”...
Page 168 ROBOT Manual DIY soft-pack II 06 Version: 2006.10.31 <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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