Techman Robot TM Palletizing Operator - Page 154

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 154
Num.
Name
Type
Default
Note
N = dropped height once box is placed (mm)
11
Interval_To_Leave
Int
300
The wait-time (ms) returning to relay point after box is
placed.
12
Box_Weight
Float[]
{1,5}
Box_Weight = {M, N}
M = 1, use TMstudio settings; ignore parameter N
M = 0, use TMflow input value N
N = box weight (kg)
13
Pillar_R_Height
Int[]
{1,……}
Pillar_R_Height = {M, H1, H2,H3…… }
M = 1, use TMstudio settings; ignore parameter H
M = 0, use TMflow input value H
H = the relative height (mm) corresponding to the
elevated pillar for each layer placed on the right pallet
14
Pillar_L_Height
Int[]
{1,……}
Pillar_L_Height = {M, H1, H2,H3…… }
M = 1, use TMstudio settings; ignore parameter H
M = 0, use TMflow input value H
H = the relative height (mm) corresponding to the
elevated pillar for each layer placed on the left pallet
15
Right_Pallet_Offset
Float []
{0,0,0,0}
Right_Pallet_Offset = {X, Y, Z, RZ}
X, Y, Z, RZ = Trimmed value for X, Y, Z, RZ position
offset (mm, mm, mm, degree) for right pallet
16
Left_Pallet_Offset
Float []
{0,0,0,0}
Left_Pallet_Offset = {X, Y, Z, RZ}
X, Y, Z, RZ = Trimmed value for X, Y, Z, RZ position
offset (mm, mm, mm, degree) for left pallet
17
Air_Pressure_Detection
Bool
FALSE
True: detect Pneumatic Air Source Pressure
False: does not detect the Pneumatic Air Source
Pressure (if air gripper is not used, set the variable to
False)
18
Movement_Protection
Bool
FALSE
TRUE: detect if the boxes on the other side of pallet are
higher than the base
False: does not detect if the boxes on the other side of
pallet are higher than the base
19
Movement_Protection_Layer
Int
4
If Movement_Protection = True, the detection will be
triggered when the current pallet is being stacked to a
certain number of layers