Techman Robot TM Palletizing Operator - Page 153

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 153
Num.
Name
Type
Default
Note
reaching the defined sum, the software will exit via the
OK node.
0 = No limit
3
Start_Direction
Int
2
1: Start palletizing from the right pallet
2: Start palletizing from the left pallet
4
Right_Start_LayerIndex
Int []
{1,1}
Right_Start_LayerIndex = {M, N} Start palletizing run
from right pallet with Box N in Layer M.
M= the number of layers starting from the right pallet
N= the corresponding index towards the number of
layers
5
Left_Start_LayerIndex
Int []
{1,1}
Left_Start_LayerIndex = {M, N} Start palletizing run from
left pallet with the corresponding index N in Layer M.
M= the number of layers starting from the left pallet
N= the corresponding index towards the number of
layers
6
Retry_Count_Depth
Int []
{3,3}
Retry_Count_Depth = {M, N}
M = Number of retry upon failure to grip box
N = Height dropped on each retry (mm)
7
Elevated_Height
Float
{1,200}
Elevated_Height = {M, N}
M = 1, use TMstudio settings; ignore parameter N
M = 0, use TMflow input value N
N = Elevated height once box is gripped (in Z direction)
8
Via_Point_Offset
Float []
{1,400,400,0}
Via_Point_Offset = {M, X, Y, Z}
M = 1, use TMstudio settings; ignore parameters X, Y, Z
M = 0, use TMflow input values X, Y, Z
X, Y, Z = The offset in X, Y, Z directions related to
Elevated_Height
9
Approach_XY_Z
Float []
{1,30,300}
Approach_XY_Z = {M, X, Y, Z}
M = 1, use TMstudio settings; ignore parameters X, Y, Z
M = 0, use TMflow input values X, Y, Z
X, Y, Z = The approach vector X, Y, Z (mm) upon box
placement
10
Elevated_Height_Before_Placing
Float[]
{1,20}
Elevated_Height_Before_Placing = {M, N}
M = 1, use TMstudio settings; ignore parameter N
M = 0, use TMflow input value N