TM Palletizing Operator User’s Manual
Product Version: 1.1 Document Version: 1.2
164
Num
.
Parameter Name
Type
Default
Descriptions
19
Pallet2_Pillar_Height
Int[]
{1,……}
Pallet2_
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 left pallet
20
Pallet1_Offset
Float [] {0,0,0,0,0,0}
Pallet1_Offset = {X, Y, Z, RX , RY , RZ }
X, Y, Z, RX , RY , RZ = Trimmed value for X, Y, Z, RX ,
RY , RZ position offset (
㎜
,
㎜
,
㎜
, degree, degree,
degree) for right pallet
21
Pallet2_Offset
Float [] {0,0,0,0,0,0}
Pallet2_Offset = {X, Y, Z, RX , RY , RZ }
X, Y, Z, RX , RY , RZ = Trimmed value for X, Y, Z, RX ,
RY , RZ position offset (
㎜
,
㎜
,
㎜
, degree, degree,
degree) for left pallet
22
Pallet1_Name
String
“
Pallet_0” Use TMstudio settings about right pallet name.
23
Pallet2_Name
String
“
Pallet_1
” Use TMstudio settings about left pallet name.
24
Interval_To_Leave
Int
300
The wait-time (ms) returning to relay point after box is
placed.
25
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, please set the
variable to False)
26
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
27
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
28
Gripper_Sensor_Feedback
Bool
Ture
Ture: enable gripper sensor feedback detection
False: disable gripper sensor feedback detection
29
Pillar_Elongation
Float
500
Set the length of the pillar in use. 500 denotes the pillar
length.
30
Pillar_Max_Elongation_CV
Float
500
Set the length value to go down for the rising pillar
before picking up.
Table 29: Advanced1_General_Parameters
WARNING:
1.
Users may enable sensor detection function in parameter settings to prevent robot
elbow from colliding with boxes accidentally.
2.
Users may enable air source sensor detection function in the parameter settings to
pause the system. They shall also confirm the air source sensor setting. If the system
shows “Air Source Pressure Too Low” message, it will cause PAUSE.
3.
When the robot is operating over its joint limit (usually J6), it will cause the robot to
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