Okura Yusoki A Series Manual 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. The other part of the calculation is the pallet parameter (size) which is
discussed later. The two points making up the pallet origin can be the canter, left, or
right of the pallet. The decision of teaching the center, right, or left is called teaching
point-referred to below.
Input the Hand coordinate of pallet origin point and opposite of pallet origin point in
HX, HY and HZ. The position of the pallet is referenced in "Hand coordinates." This
allows the installer to measure directly from 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.
Pallet Terminology:
The front and rear positions of the pallet are used to define the pallet coordinate
origin. The pallet has a front, back, left and right. Generally, the pallet is positioned
by the conveyor until the pallet contacts a fixed or pop up stop. The pallet edge that
contacts the stop is routinely designated as the front. OXAP-QmII references this
edge when palletizing. The remaining side of the pallet is referenced from the front.
If you are on the pallet facing the front the rear is behind you, the left is your left,
and the right is your right.
Teaching position:
The teaching position determines the pallet origin on the center, left or right of the
pallet referenced to the front of the pallet.
When using multiple types (sizes) of pallets on the same pallet conveyor, select a
teaching point (pallet origin) that will remain constant between the pallets ranges
used. For example, if the pallets used do not change in width, then the pallet center
does not change and the center should be taught as the pallet origin. If there is a
pallet pusher that registers all of the pallets against a guide on the right then the
right should be taught as the pallet origin.
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