Okura Yusoki A Series Manual page 16

2.1.2. Position Auto Calculation
Position data is able to divide to 3 contents
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.
1) Dimension of Product (input this data when create new pattern)
2) Position of Station conveyor (Registered at Parameter setting)
3) Station conveyor information (Registered at Parameter setting)
4) Hand information (Registered at Parameter setting)
Stacking (Placing) position
This position is automatically calculated from the following data, without moving a
robot.
1) Stacking pattern (Select when create teaching pattern)
2) Pallet station position (Registered at Parameter setting)
3) Pallet dimension (Registered at Parameter setting)
Point positions on the course
Calculate from 1 or 2 distances (D1, D2, D3, and D4). OXPA-QmII already set
suitable value; also you can change the values for each program by editing program
parameters.
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