Techman Robot TM Palletizing Operator - Table 31: Definitions of Advanced2-8

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 157
Parameter
Description
Default setting: triggered by DI14
Note: if users wish to change this setting, they have to implement a new subflow
to replace this subflow.
Advanced5_Interval_Between
_Layers
This subflow allows users to add interval between layers of boxes, such as
insertion of slip sheet.
Users may refer to
TMOperator_TMROBOT_TMPLTZOP_V001_Main1_pillar_robot_base for
XYZ coordinates, which will record the relative direction between the point
position and the pillar height.
Advanced6_Via_Point
This subflow allows users to replace “Via Point” nodes.
Advanced7_Box_Placement
This subflow allows users to replace “Approach Vector” nodes.
Users may refer to
vision_TMOperator_TMROBOT_TMPLTZOP_V001_Main1_Step3_Mark_Rec
ognition
for XYZ coordinates, which will record the relative direction between the current
box and placement location when the palletizing is stopped.
Advanced8_Further_Vision
This subflow allows users to add extra vision-related applications, such
as barcode scanning.
Users may refer to
TMOperator_TMROBOT_TMPLTZOP_V001_Main_Vision_Mark_Recognition
for XYZ coordinates, which will record the relative direction with vision related
coordinates.
Table 31: Definitions of Advanced2-8
WARNING:
Make sure Approaching Vector Z is higher box.