TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 8
5.10.4 Reset Button Setting in TMflow ......................................................................................................... 108
5.10.5 TCP Setting for the Adjustable Flexible Gripper ............................................................................... 108
6 Application Software Setup .................................................................................................................................... 112
6.1 TM Palletizing Operator Software Overview ............................................................................................. 112
6.2 TM Palletizing Operator Software Configuration Workflow ....................................................................... 112
6.3 Downloading TM Palletizing Operator Software Package ........................................................................ 113
6.4 Setting Palletizing Application under Palletizing Wizard ........................................................................... 113
6.4.1 Step 1 - Setting Box Size and Label Direction .................................................................................. 114
6.4.2 Step 2 – Choose/Set Pallet ............................................................................................................... 115
6.4.3 Step 3 – Create Pallet Layers ........................................................................................................... 116
6.4.4 Step 4 – Create Palletizing Sequence .............................................................................................. 119
6.4.5 Step 5 – Palletizing Simulation .......................................................................................................... 121
6.4.6 Step 6 – Export File ........................................................................................................................... 125
6.5 Configuring Palletizing Software Components in TMflow ......................................................................... 125
6.5.1 Importing Components and Text File into TMflow ............................................................................. 125
6.5.2 Setting I/O While Project Stop/Error .................................................................................................. 130
6.5.3 Setting TMOperator_TMROBOT_TMPLTZOP_V001_Pillar ............................................................. 132
6.5.3.1 Lowering the Pillar Height ............................................................................................................. 134
6.5.4 Setting TMOperator_TMROBOT_TMPLTZOP_V001_Main ............................................................. 135
6.5.4.1 Step 1 – Import File ....................................................................................................................... 136
6.5.4.2 Step 2 – Recognizing Box Position ............................................................................................... 137
6.5.4.3 Step 3 – Teach Gripping Point ...................................................................................................... 140
6.5.4.4 Step 4 – Visual Recognition .......................................................................................................... 142
6.5.4.5 Sensor Input Considerations ......................................................................................................... 152
6.5.5 Setting TMOperator_TMROBOT_TMPLTZOP _Vxxx_Grip and TMOperator_TMROBOT_TMPLTZOP
_Vxxx_Release .................................................................................................................................................. 152
6.6 Advanced Palletizing Setting ..................................................................................................................... 152
6.6.1 Advanced1_General_Parameters ..................................................................................................... 152
6.6.2 Advanced2-8 ..................................................................................................................................... 155
7 Product Specifications ........................................................................................................................................... 159
8 Maintenance and Repair ........................................................................................................................................ 161
9 Warranty Statement ............................................................................................................................................... 163
9.1 Product Warranty....................................................................................................................................... 163
9.2 Disclaimer .................................................................................................................................................. 163
Appendix – A: Troubleshooting and Error Messages .................................................................................................... 164
Troubleshooting ..................................................................................................................................................... 164
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