Techman Robot TM Palletizing Operator, User Manual, Page: 163 / 185

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 163
Num . Parameter Name Type Default Descriptions
N = box weight (
㎏
)
9 Box2_Weight Float[] {1,5}
Box2_Weight = {M, N}
M = 1, use TMstudio settings; ignore parameter N
M = 0, use TMflo input value N
N = box weight (
㎏
)
10 Pallet1_Elevated_Height Float {1,200}
Pallet1_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)
11 Pallet2_Elevated_Height Float {1,200}
Pallet2_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)
12 Pallet1_Via_Point_Offset Float []
{0,-400,-
400,0}
Pallet1_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
13 Pallet2_Via_Point_Offset Float [] {0,-400,400,0}
Pallet2_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
14 Pallet1_Approach_XY_Z Float [] {1,30,300}
Pallet1_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 (
㎜
) upon box
placement
15 Pallet2_Approach_XY_Z Float [] {1,30,300}
Pallet2_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 (
㎜
) upon box
placement
16
Pallet1_Elevated_Height_Before
_Placing
Float[] {1,100}
Pallet1_Elevated_Height_Before_Placing = {M, N}
M = 1, use TMstudio settings; ignore parameter N
M = 0, use TMflow input value N
N = dropped height once box is placed (
㎜
)
17
Pallet2_Elevated_Height_Before
_Placing
Float[] {1,100}
Pallet2_Elevated_Height_Before_Placing = {M, N}
M = 1, use TMstudio settings; ignore parameter N
M = 0, use TMflow input value N
N = dropped height once box is placed (
㎜
)
18 Pallet1_Pillar_Height Int[]
{1,……}
Pallet1_
Pillar_Height = {M, H1, H2,H3…… }
M = 1, use TMstudio settings; ignore parameter H
M = 0, use TMflow input value H
H = the relative height (
㎜
) corresponding to the
elevated pillar for each layer placed on the right pallet