Okura Yusoki A Series Manual 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 . The
station position screen displays.
6.4.1. Registering station origin point
OXPA-QmII uses a single point on the station conveyor to help calculate step 2 which
is key value in determine the remaining steps. This point gives us the station origin.
Simply put, the position set for each station is the point on the conveyor where the
top of the roller plane intersects the point at the bottom, center of the fixed stop.
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. Station conveyor direction:
In order for OXPA-QmII to understand if the product is traveling from the robot's left
to right and contacting the fixed stop or traveling from the robot's right to left and
contacting the fixed stop the station angle(Hα) is also critical to correct positioning.
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