VM931E-03

Robot Manual

Offline Stacking Program Tool exclusive for A Series Robots

OXPA-QmV
 Introduction
Thank you for purchasing a model from the Okura Robot Palletizer A series.

This manual is a guidebook to help you safely and correctly use your A Series
Robot Palletizer. It should be useful not only to beginners who are using an Okura
Palletizer for the first time, but also to experienced users, who can use this Manual to
reconfirm their knowledge. Please read this Manual carefully and use the Palletizer
with a clear understanding of its content.

NOTE
Unauthorized reproduction of part or all of the content of this manual is
forbidden.
The content of this manual is subject to future change without prior notice.

Safety Instructions
Each A Series Robotic Palletizer is equipped with a variety of protective features.
However, an increased level of safety results when these safety precautions are
constantly reviewed and consistently followed with a separate manual of “Safetey”.

IMPORTANT The safety instructions with left sign of IMPORTANT

throughout this manual are enforcement or warning that
if not correctly operated or handled, you may be
seriously injured or killed.

IMPORTANT
Only AUTHORIZED PERSONNEL can operate, maintain the robot or work on
programming.
The definition of “AUTHORIZED PERSON” is that the only personnel who can
operate the robot and/or robot system, are those who have enough knowledge or
experience of robot operation and have also been trained to operate the robot.
They must also have been authorized by the employer.
 Table of Contents
1. PREPARATION ............................................................................1-1
1.1. FOR FIRST USES .................................................................................... 1-1
1.2. USABLE ROBOT ..................................................................................... 1-2
1.3. OPERATING FLOW CHART .......................................................................... 1-3
1.4. OXPA-QMV INSTALL AND START ................................................................. 1-4
1.5. UN-INSTALLATION .................................................................................. 1-4
1.6. START SCREEN OF OXPA-QMV................................................................... 1-5

2. VERSION INFORMATION OF OXPA-QMV .....................................2-1

2.1. COM PORT SETTING ............................................................................... 2-2

3. PROJECT SELECTION ..................................................................3-1

3.1. PROJECT SELECTION SCREEN ...................................................................... 3-1

4. HOW TO CREATE NEW PROGRAM (BASIC) ..................................4-1

4.1. CREATE NEW PROGRAM ............................................................................ 4-1
4.2. ENTER PRODUCT DIMENSION ...................................................................... 4-4
4.3. PARAMETERS ........................................................................................ 4-6
4.4. OPTIONS (1).......................................................................................4-12
4.5. OPTIONS (2).......................................................................................4-13
4.6. OVERLAP SETTING .................................................................................4-14
4.7. PATTERN SELECTION ...............................................................................4-15
4.8. LOAD SHAPE CONFIGURATION AND CORRECTION .............................................4-19
4.9. DOWNLOADING PROGRAMS TO ROBOT..........................................................4-35

5. HOW TO CREATE NEW PROGRAM (PRACTICAL) ..........................5-1

5.1. VARIABLE PICK UP .................................................................................. 5-1
5.2. STACKING ORDER AND EDITING DETAIL .......................................................... 5-3
5.3. PATTERN COPY/CREATE............................................................................. 5-6
5.4. MULTI-PLACE AND MULTI-ROW...................................................................5-13

6. EDITING PROGRAM ....................................................................6-1

6.1. PROGRAM STRUCTURE.............................................................................. 6-1
6.2. EDITING PROGRAM ................................................................................. 6-4
6.3. EDITING PROGRAM PARAMETER ................................................................... 6-5
6.4. ROBOT SEQUENCE .................................................................................6-18
6.5. STEP PARAMETERS .................................................................................6-20
6.6. AUXILIARY DATA EDITING .........................................................................6-27
6.7. EDITING STEP POSITION COORDINATE ..........................................................6-29
6.8. AUTO HEIGHT CALCULATION .....................................................................6-31
6.9. EXTENDED AXIS POSITION DATA .................................................................6-32

7. UPLOAD / DOWNLOAD ...............................................................7-1

7.1. VIEW / DELETE (ROBOT) .......................................................................... 7-3
7.2. DOWNLOAD TO ROBOT ............................................................................. 7-4
7.3. UPLOAD TO PC...................................................................................... 7-6
7.4. VERIFY PC - ROBOT ................................................................................ 7-7

8. PROGRAM UTILITIES ..................................................................8-1

8.1. PROGRAM DELETE................................................................................... 8-3
8.2. PROGRAM COPY ..................................................................................... 8-4
8.3. BACK-UP ............................................................................................. 8-5
 8.4. GLOBAL RECALCULATE .............................................................................. 8-7
8.5. CAPACITY CALCULATE ............................................................................... 8-9

9. PRINT PARAMETERS .................................................................. 9-1

10. DEFAULT SETTINGS................................................................ 10-1

10.1. STOPPER DIRECTION .............................................................................. 10-2
10.2. PRODUCT SIZE .................................................................................... 10-2
10.3. MAXIMUM LOAD SIZE ............................................................................. 10-3
10.4. OVERHANG RATIO ................................................................................. 10-3
10.5. VARIABLE HEIGHT SETTING ...................................................................... 10-5
10.6. APPROACH (FOR SPECIAL USES) ................................................................ 10-8
10.7. OVERLAP RATIO (BAGS) ......................................................................... 10-8
10.8. E.E. CHANGE THRESHOLD ....................................................................... 10-9
10.9. MAINTENANCE CHECK CYCLE .................................................................... 10-9
10.10. AUTO STACK SEQUENCE ........................................................................ 10-10
10.11. CHECK BOXES ................................................................................... 10-10
10.12. COMMENT FILE FOR ROBOT SEQUENCE ....................................................... 10-21
10.13. MASTER PASSWORD ............................................................................ 10-24

11. PARAMETER SETTING............................................................. 11-1

11.1. STATION PARAMETERS ............................................................................ 11-1
11.2. END EFFECTOR PARAMETERS ..................................................................... 11-7
11.3. ACTION OF END EFFECTOR ..................................................................... 11-18

12. STATION & PALLET SETUP ..................................................... 12-1

12.1. STATION CONVEYOR POSITION .................................................................. 12-1
12.2. PALLET PARAMETERS .............................................................................. 12-9

13. MAINTAIN CUSTOM PATTERN ................................................ 13-1

13.1. CREATE CUSTOM PATTERN ........................................................................ 13-1
13.2. MAINTAIN CUSTOM PATTERN ................................................................... 13-21

14. APPENDIX .............................................................................. 14-1

14.1. SYSTEM PARAMETER & OTHERS SETUP ......................................................... 14-1
14.2. ERROR LOG AND KEY TRACE ..................................................................... 14-4
14.3. TRACE DATA GRAPH .............................................................................. 14-5
14.4. FILES INSIDE OF HARD DISK .................................................................... 14-6
14.5. EDITING TOOL FOR REFERENCE PATTERN ....................................................... 14-7
1. Preparation

This section explains main screen and basic operations before starting to create new
patterns and stacking programs.

1.1. For first uses

1.1.1. Software package

This package includes the following items.

1. OXPA-QmV software
2. OXPA-QmV cable (Cable between PC and robot controller)
3. Manuals
4. Driver for communication with robot controller

1.1.2. System requirements

Usable Operation System:

Windows XP (Professional), Windows Vista (Business),
Windows 7 (Professional 32 bit / 64 bit), Windows 8 (Pro 32 bit / 64 bit)
and Windows 8.1 (Pro 32 bit / 64 bit)

Memory:
At least 12M bytes over to execute OXPA-QmV.

Communication port:
USB: 1 port
One communication port is required for this system.

1-1
HDD:
At least 50M bytes over to install OXPA-QmV
Maximum of stacking programs per a robot
z Use sequence comment
9999(maximum stacking programs) x {32768(maximum stacking program size)
+ 184000(maximum sequence comment size)}
9999 x (32768 + 184000) = 2.1G byte/Robot
z Not use sequence comment
9999 x 32768 = 313M byte/Robot

Other:
English OS, Mouse, 1024x768 display resolution over, CD-ROM drive, graphics card

1.2. Usable Robot

Usable robot types for OXPA-QmV are as follows.

Maximum storable stacking programs per a robot is

9999 – 173 (reserved programs) = 9826 (stacking programs)

1-2
1.3. Operating Flow chart
As the following flowchart shows you, for the first time, setup OXPA-QmV, register
the robot and then repeat the daily operation after that.

START

Yes
Already set up?

No

Setup OXPA-QmV
Enter the Serial

Yes
Registered the robot?
Procedure for only at
very first time No

Register the robot,

Select the robot type

Register the system parameter

Register the operation range
Determine the station position
Determine the pallet position
Setup the station
Setup the end effector
Register the pallet
Register the default

Setup product dimension

Procedure after the Select the pattern
second time Creating pattern

Download the program to robot

END

1-3
1.4. OXPA-QmV install and start

1. Insert the OXPA-QmV disk to CD drive.

2. Select “SETUP.EXE” from Explore. Or from menu bar-[Start]-[Run…].
3. Execute “SETUP.EXE” program
4. Proceed following displayed screen or messages.
5. Enter the Serial No. when OXPA-QmV asks you to enter the ten digit serial No.

For Windows XP, Vista, 7, 8 and 8.1 only the Administrator can install this
software.

1.5. Un-installation

1. Select [Start]-[Setting]-[Control panel]-[Add/Remove Programs] from Windows.

2. Select “Okura OXPA-QmV”
3. Click the “Change/Remove.”

For Windows XP, Vista, 7, 8 and 8.1 only the Administrator can uninstall this
software.

1-4
1.6. Start Screen of OXPA-QmV

After OXPA-QmV has been installed, you can start OXPA-QmV clicking on [Start] –
[Program] – [Okura] – [OXPA-QmV]. The below screen is shown up for the first time
after installed. The popup screen asks you to enter serial No. So you enter your
serial No. and click on [Start] to go forward.

Once the serial number is entered for the first time, it never shows up again so you
can just press [Start] to go.

1-5
1.6.1. Main Screen

No robot is selected when it starts for the first time. Only version of OXPA-QmV is
shown on title bar. You can choose only either [Project selection] or [Exit] until the
robot is selected at [3.1. Robot Registration].

If robot has been selected, the below information shows up at title bar.
* Comments (Project, etc.)
* Selected Project number
* Type of Robot

1-6
If you click on disabled button’s title, OXPA demands the entering of password.

Click on

Enter password and click on [OK] to make all the buttons activated.

1-7
1.6.2. Robot Selection

No robot is selected for the first time use.

The robot project data with which adjusting is completed is to be copied to folder
“C:¥Okura¥OXPAQmV”.
Click on “Robot Selection” button to select robot. The below example shows you
“0X0000” robot selected and returns to main screen after [Select & exit] is clicked.

Select Click on

1-8
2. Version Information of OXPA-QmV
“About OXPA-QmV” screen is opened if the titled part is clicked on.

Click on

You can see “Memory vacant capacity” and COM port setup other than version
information.

2-1
2.1. COM Port Setting

You can setup COM port that OXPA-QmV uses. Choose COM port out of the list and
click on “OK”.

Click on

Setup

You can choose to skip the opening screen and to run multiple instances.

2-2
3. Project selection

This section explains how to make new program folder into OXPA-QmV.

OXPA-QmV is able to store different robot project data in one computer. Selecting
hard disk drive or USB thumb drive allows OXPA-QmV to read the data. Other robot
project data can be saved into the same folder.

3.1. Project selection screen

The below screen is shown up if [Project selection] button on main screen is clicked
on.

3-1
3.1.1. Browse

Choose folder in which robot project data exists clicking on [Browse] button.
Robots are listed on [Project list] if preset robots exist in the chosen folder. This
folder is also used to register robots.

Projects are listed in the chosen folder.

3-2
3.1.2. Start new project

“Start new project” screen shows up clicking on “Start new project button at [Project
selection].

Enter [Project ID], [Project comment], choose [Robot type], [Conveyor station],
[Pallet station] and click on [OK].

In the following example, enter “1x1111” (don’t use SPACE) to [Project ID] and
“Okura Test Robot” to [Project comment]. Choose “A1800N”, “2”, “2” to [Robot
type] [Conveyor stations], [Pallet stations] respectively.

3-3
Click on [OK] at [Start new project] screen then the below configuration message
pops up. Click on [OK] if everything is ok.

You go back to “Project selection” screen to see project “1x1111” added.

Newly created project

Then you click on [Select & Exit] to choose the above newly created project for the
currently selected robot.

3-4
3.1.3. Project comment and/or Robot Type Edit

You can edit [Project comment], [Robot type], etc. except for [Project ID], of the
robot selected in the list, clicking on [Edit selected project].

Click on

Click on [OK] after changing [Project comment], [Robot type], etc.

* You cannot change [Project ID].

IMPORTANT
Never ever change “Robot type” to wrong one.
Otherwise, robot may be seriously failed.

3-5
4. How to create new program (Basic)

Case Palletizing is explained in detail as an example of the procedure with witch a

new program is created. In doing this, the special knowledge of a program is not
required.

4.1. Create new program

For creating new program, you just have to follow the screen entering values and
registering the positions. This section explains how to create new product pattern for
example.

4-1
Proceed from following screens.
1. Create/modify stacking program.
2. Pattern selection

4.1.1. What is teaching / (programming)

You need to enter the following three basic data to the Robot before starting creation
new palletizing and/or de-palletizing program.

1. Position (Pickup position, Stacking position, pass point positions on the course,
and etc).
2. Speed (High speed, Smooth stopping and etc).
3. Communication with peripheral equipment (End effector OPEN/CLOSE, Station
conveyor condition and etc).

These three data entered to Robot are called “Teaching”.

The above item 2 and 3 come from our standard pattern (The standard pattern is
preset in OXPA-QmV). Okura has developed the standard pattern from the long
experiences and the in-depth knowledge.

OXPA-QmV calculates by itself the position data of an item 1 from the system
parameter and a the product size.

4-2
4.1.2. Position Auto Calculation

Position data is able to divide into 3 contents

1. Pickup position for product
2. Stacking (Placing) position for product
3. Pass point positions on the course

Okura A series Robot Palletizer calculates 3 contents as following procedure.

4.1.2.1. Pickup position

This position is automatically calculated from the following data, without moving a
robot.
1) Dimension of Product (Enter this data when create new pattern)
2) Position of Station conveyor (Registered at Parameter setting)
3) Station conveyor information (Registered at Parameter setting)
4) Hand information (Registered at Parameter setting)

4.1.2.2. Stacking (Placing) position

This position is automatically calculated from the following data, without moving a
robot.
1) Stacking pattern (Selected when a pattern is created)
2) Pallet station position (Registered at Parameter setting)
3) Pallet dimension (Registered at Parameter setting)

4.1.2.3. Point positions on the course

Those pass point positions are calculated from 1 or 2 distances (D1, D2, D3, and D4).
OXPA-QmV already set the suitable value; also you can change the values for each
program by editing program parameters.

4-3
4.2. Enter product dimension

Click on “Create/modify stacking program” button at main screen to open the below
screen.

4.2.1. Program number

Choose program number from 1 to 9999 except for the program number 0 and the
ones from 800 to 972. Since those program numbers are reserved for special
programs. Do not delete or edit these programs.

The reserved programs’ purposes are as followings:

No. 0 : Robot waiting position
No. 800 to 900 : Reserved
No. 901 to 948 : Reference programs for Palletizing
No. 949 to 972 : Reference programs for De-palletizing

4-4
4.2.2. Name

You can enter maximum 30 alphabet characters for program name. It is easy for you
to realize the program with given names.

4.2.3. Product dimension

Enter product Length (L), Width (W) and Height (H) in millimeters (mm). You can
enter up to the 1st decimal place of the Height (H). Product Length is measured in
the direction of flow at station conveyor. Please see the following figure.

Note: Length L in the case of turning

When products may or may not be turned at the station conveyor (turning
selected at pattern creation) the length is in the direction of flow before
turning. When the products are always turned at the station (turning
selected in the default menu) the length is in the direction of flow after
turning.

Width W

Height H

Length L

Station conveyor

Handled article dimensions

4.2.4. Station, Pallet, End effector

Specify Nos. out of stations, pallets and end effectors registered.

4-5
4.2.5. Pallet Type

Standard pallet is displayed in pallet type. Choose other pallet out of the list if
needed.

4.3. Parameters

4.3.1. Maximum layers

The field displays the maximum quantity of layers which can be stacked. The value is
automatically calculated, but can be reduced if preferred.

Note: Formula of maximum No. layer

Pallet position height(PP)

Maximum operation range height data (Z max)
Inching rise distance above pallet (D4)
Standby position above pallet height (D2z)
Actual use pallet height (PH)
Qty plt on floor (M)
Product height (H)

Pallet on the floor:

Maximum No. layer = (Zmax - PP - PH * M - ((D4, D2z)max - H)) / H

Pallet on the pallet station:

Maximum No. layer = (Zmax - PP - PH - ((D4, D2z)max - H)) / H

This layer is ranges from 0 to 99 from which it is omitted below the decimal
point. Even if the result becomes 0, it is likely to be able to stack by setting
APR(Special)

4.3.2. Layer quantity

This field displays the layers that will be actually stacked. The actual quantity of
layers that will be stacked must be at or below the maximum quantity of layers.

4-6
4.3.3. Actual height

In situations where the stacking height varies among layers due to the product
features, the “actual height” field is used to compensate. The height of a completed
load is measured and then the value is entered. OXPA-QmV calculates the required
height decrement using both the actual height of the load and the single product
height entered. This decrement value is not used with cases but with bags.

Note: Actual height (Height Decrement)

Some products such as bag of powder, shrink in height during palletizing.

This shrinkage is due to the weight of each up-on-top layers of products
stacked, the air mixed in the products during manufacturing which escapes
later, the fluidity of the product, and/or the strength of the packaging
material. If you enter actual height OXPA-QmV calculates the shrinkage and
then updates the program parameters for it.

4.3.3.1. Entered data:

Ha: Actual stacking height
H: Product height
L: Number of layers stacked

4.3.3.2. OXPA-QmV calculation:

d = H - ((Ha - H) / (L-1))
d: Shrinkage value

4.3.3.3. OXPA-QmV images of per layer height

H
H-d
H-d Ha
H-d
H-d

4-7
4.3.4. Nesting depth

Enter dimension of nesting depth in MM for such plastic container stacking if those
are nested.

4.3.5. Depal type

The defaults are as follows:

“Bag-pal” for bag end effector
“Depal” for Depal-pad
“Case-pal” for others
If you want to change the default to De-pal type, choose it from pull-down menu.

4.3.6. Pick-up

When “Labels out” palletizing, the pickup must be set to “Variable.” If you do not
want to choose “Label out” palletize, the pickup must be set to “Fix”. OXPA-QmV
calculates by itself the right stacking order without collision with previously stacked
products. When hand is bigger than product length, OXPA-QmV discards the collision
with stacked products. In this situation the pickup is set to “Variable”. Then
OXPA-QmV takes into process the collision with the stacked products.

4-8
4.3.7. Stacking type

Select stacking type from followings.

Column: All layers have the same pattern

Interlock: Even and odd layers are rotated 90 or 180

degrees, or are patterns with bilateral symmetry

Special: A different pattern can be selected for each layer.

4-9
Note:

Once 1st layer is fixed, Interlock type pattern created automatically by the
following rules.
1. Stacking pattern is not linear symmetry from both sides of pallet. Even
layer is 180 degrees turned.
2. Stacking pattern is bilateral symmetry. Even layer is 90 degrees turned.

1. Stacking pattern is not linear symmetry from both sides of pallet. Even layer will
be 180 degrees turned.

Odd layer Even layer Overlap

2. Stacking pattern is bilateral symmetry. Even layer will be 90 degrees turned.

Odd layer Even layer Overlap

4-10
4.3.8. Stack sequence only standard

Stacking order can be chosen “Auto” or “Manual”. In “Auto”, end effector may
interfere with products. At that case, the below message pops up when
recalculated.

“Yes”: Manually specify the order. Open [Stacking order setting] screen on selected
pattern.
“No”: Choose the other pattern. Back to [Candidate selection] screen.
“Cancel”: Cancel the pattern selection.

4.3.9. Max # of multi-pick

Enter the maximum pickup at a time in this field when multi pickup pattern is
created automatically. When you use this function, Hand (End effector) must be set
to “Variable pick.” Also Multi-place needs to enter the maximum pickup in this field.

4.3.10. Products/layer

This is the quantity of products per a layer required in the pattern. OXPA-QmV has
more than 2,000 patterns stored in memory which can be chosen. This big number
can be narrowed down for your easy and quick search. Enter the exact number
required for your pattern. The default is the maximum quantity of products that will
fit within the current parameters. When you enter the number of Picks/layer, the
screen is limited to display equal or less picks/layer patterns.

4-11
4.4. Options (1)

Important!
The 2-axis robots (A700V-P, A1600V-P, etc.) move only within the
vertical plane. Therefore, there are the following restrictions.

1. Stacking type is only column.

2. Standard pattern type is block.
3. Useable stacking option is only "Extra top layer."
4. Pyramid mode is unusable.
5. Slip sheet is unusable.

There are the following options in stacking type.

4.4.1. Extra Even/Odd layer

The “Extra Even/Odd layer” option allows the operator to select alternating layers,
but choose two completely different patterns. During pattern selection the operator
selects the pattern for layer 1 and the layer 2. The “Extra E/O layer” option forces
the products on the pallet to be adjusted and stacked at the predominating pattern
edge making the load perimeter a cube.

4.4.2. Extra top layer

The “Extra top layer” option allows the operator to select a completely different
pattern for the top layer. This option is available when stacking type is column or
interlock.

4.4.3. Spread layer

The “Spread layer” option allows the operator to select the moving all products to
the edge of the pallet.

4-12
4.4.4. Tight Top layer

The [Tight top layer] option allows the operator to select the moving all products on
the last layer (top layer) to be as close and tight as possible.

Note: Close and tight as possible

The space is adjusted so that the stacking pattern may become a square.
But the space is not always adjusted when products are drawn and stacked
to the center of the pallet. However, the work interference space and the
hand interference space have to be kept for safety. Set “zero” to the work
interference space and the hand interference space when you make the
stacking pattern without space.

4.4.5. Compress layer

The “Compress layer” option is used to make the pattern as tight as possible. It is
not used regularly because the patterns are normally as tight as possible. Some
applications however are set up to no spacing between products. This function
removes the space.

4.5. Options (2)

4.5.1. Multi-place

The “Multi-place” option is used if an end effector has the ability to pick multiple
products at a time and place them to load on pallet separately.

4-13
4.6. Overlap setting

4.6.1. Bag overlap

The bag overlap is used only for the bag stacking. The pattern matched to the pallet
size can be made adjusting the overhang.

When "Overlap settings" option is selected, it is not possible to use it together with
options other than "Option (1)" "Option (2)" group box.

4-14
4.7. Pattern selection

4.7.1. Standard pattern selection

Stacking program can be easily created by choosing a preferred one out of approx
2,000 patterns in OXPA-QmV. OXPA searches a pattern by number of products based
on the pallet size and the product size. Possible candidate patterns are shown up in
descending order of number of products per a layer. Double-click on a pattern you
want, choosing around with “next candidate” or “previous candidate” button. Create
a stacking program after double-clicked.

4-15
4.7.2. Registered Standard pattern selection

From pallet dimension and product dimension, OXPA-QmV searches the stacking
patterns from the patterns registered. Then it displays from oldest registered
available stacking pattern. As following figure, registered patterns display odd layer
and even layer. You can see 3D pattern by clicking right side of mouse button. Also
you can check the “Extra top layer” or “Compression.”
Click the “Next page” or “Prev page” button for selecting the pattern then double
click when you find your pattern. In doing this, you create a program and then move
back to the last screen which is “Stacking type” screen. At this moment the stacking
order, multi-pick and drop (for bag) information selected are still as same as the
pattern registered.

Note:

Products to be placed on are shown in red and ones to be dropped high are
in blue. [Multi-pick], [Product direction] and [Picking direction] are
explained later on at [5.2. Stacking order setting].

4-16
4.7.2.1. Use fine tuned position

When a candidate pattern is fine-tuned in positioning on [Magnified display],

stacking program is calculated by that values accordingly. However, it is displayed
without that.

4.7.3. Custom Pattern Selection

Caution: Custom Pattern

Specific patterns for order projects are called “Custom pattern”. The
stacking order needs to be specified manually one by one as products
cannot be completely mated by OXPA.

It searches a stacking patterns based on pallet size and product size out of the
custom patterns registered. Possible stacking patterns are shown up in descending
order of number of products per a layer. Double-click on a pattern you want,
choosing around with “next candidate” or “previous candidate” button. [5.2. Stacking
order setting] screen are shown up after double-clicked, on which the stacking order
is set to create a stacking program.

4-17
Custom patterns can be added on at [13. Create/edit custom pattern] or by [Add
pattern] button at [Pattern selection] screen.

See [13. Create/Edit custom pattern] for detail.

4.7.4. Registered Custom Pattern Selection

Frequently-used custom patterns can be registered and re-used clicking on

[Registered Custom Pattern Selection] button. The way of searching and creating a
stacking program is exactly same as at the previous section 4.7.3. At that time, the
stacking order, multi-pick, drop-high are no change from the registered.

Caution:

[Fine-tuned position] function and products distinguished in red or blue

color are exact same as standard registered pattern.

4-18
4.8. Load Shape Configuration and Correction

Load shape can be confirmed at screens of stacking pattern, side view, 3-D view or
magnified view of stacking method.

4.8.1. Load shift / Sheet

Here is side view. Load can be moved by [<=], [Center] or [=>]. Either load-moved-
to-pallet edge or move-by-entered value can be chosen.

4-19
4.8.1.1. Pyramid mode

When stacking in a Pyramid shape for rice pallet, etc., the program is created using
the Pyramid mode. When a program is created with this mode, the planar position in
each layer is automatically calculated so that the stacking pattern is like Pyramid
shape.

The “Base lay No.” stacking position does not change. The setting ranges is from 1st
layer to actual quantity of layer. Pattern will be squeezed from the selected planner
layer up to top and expanded from the selected planner layer to bottom. Position
calculation is done automatically.

The “Inclined” box is values for decreasing measurements of pallet width side. Enter
the difference value of 1st layer’s external dimension and top layer’s external
dimension. After clicking on “Pyramid” button, each planner layer’s product positions
are calculated automatically then the planner display will be changed. By click
“cancel” button, you can go back to beginning.

The “Unmovable” box sets the fixed effective width. The center of this range calls
“Center of the pallet” and set this range by clicking “=>” or “<=” at the last display
(each click moves by 100mm).

4-20
Following figures are the image before using pyramid and after using pyramid.

Before

Base layer

Inclined Inclined
Products Pallet

After

Base layer

Inclined Inclined

4-21
Fig 1. Before using Pyramid mode.

Fig 2. After using Pyramid mode.

4-22
 Fig 3. 3D view of Pyramid.

4.8.1.2. Sheet
Sheet placement can be setup.
DM value Sheet magazine BIT DM Layers
1 D12 0 – 15th
Negative 0 - 15 D13 16 – 31st
2 D14 0 – 15th
D15 16 – 31st
1 D12 0 – 14th
Positive 0 - 14 D13 15 – 29th
2 D14 0 – 14th
D15 15 – 29th

This can be used at the speed capacity calculation including sheet placement on next
page.

4-23
4.8.1.3. Example of typical sheet pick logic

OXPA-QmV can calculate the robot capacity of “Example of typical sheet pick logic”,
But, OXPA-QmV can not calculate the other sheet pick logic.

In the 1st, please check the sheet required layers.

In the 2nd, please change the sheet supply time. (Unit : 10msec)
----- omission -----
COUNT Counted up. D1 is set to the next product.
Or, D0 and D1 are set to
the next layer and the next product.
IF D1 == 0 Is the next product the 1st of layer?
IF D0 < 16 Choose DM (Pallet - 15).
D5 = D12 “On the pallet - 15th” of “Sheet hopper 1”.
ELSE Choose DM (16 - 31).
D5 = D13 “On the 16th - 31st” of “Sheet hopper 1”.
ENDIF
D3 = D0 % 16 Get the residual.
D4 = 1 << D3 “0001” is shifted by D3 to make required layer.
D6 = D4 & D5 Get “AND” D4 and D5.
IF D4 == D6 Required layer?
Y35 = 1 Sheet required relay ON.
WTTMR 40 Waiting PLC action.

4-24
 Y35 = 0 Sheet required relay OFF.
ENDIF
ENDIF
----- omission -----

4.8.1.4. Example of Every 12 layers

----- omission -----

COUNT Counted up. D1 is set to the next product.
Or, D0 and D1 are set to
the next layer and the next product.
IF D1 == 0 Is the next product the 1st of layer?
IF D0 != 0 Not on the pallet ?
D5 = D0 % 12 Get the residual.
IF D5 == 0 Every 12 layers?
Y35 = 1 Sheet required relay ON.
WTTMR 40 Waiting PLC action.
Y35 = 0 Sheet required relay OFF.
ENDIF
ENDIF
ENDIF
----- omission -----

4-25
4.8.2. 3D view

Here is a bird eye view of products stacked on pallet from slant top. Stacking order
can be animated on screen by clicking on “<” , “>”, “|<” , “>|”, etc. See the below
explanation for detail. The view direction can be changed by clicking on green lined
triangle. The current and chosen direction is turned to solid green color.

[|<]: Start from beginning. Displays only empty pallet.

[<<<]: Rewind the pickup quantity products for multi-place.
[<<]: Rewind the pickup quantity products for multi-pick.
[<]: Rewind only one product by order.
[>]: Forward only one product by order.
[>>]: Forward the pickup quantity products for multi-pick.
[>>>]: Forward the pickup quantity products for multi-place.
[|>]: End of stacking. Displays full pallet.

4-26
4.8.3. Magnification of indication

By clicking the “Magni view” you can enlarge the planar pattern. You can change the
layer display by clicking “Top”, “Up”, “Down” and “Bottom.” The position with the
product can be fine-tuned for Palletizing.

It displays whether fine-tuning is possible or impossible at the left of the screen.

All layers are changed if the first layer in column type is fine-tuned.
Odd layers are changed if the first layer in interlock type is fine-tuned and the even
layer are changed if the second layer is fine-tuned.
The layers to which a fine-tuned is done and also “same layer setting” is chosen are
changed in the special type.

4-27
Please left-click on the fine-tuned product. The screen changes as shown in the
figure below.

The product is colored in purple to have been selected. The products that have not
been selected are colored in black. The selected product moves by "Arrow key" of
the keyboard or "Direction" button of the screen. The distance that moves by a click
once is specified by "Pitch (increment/click)". The operation that ends the movement
is to click "Done" button or to left-click the area light blue background outside the
products. When the product is a bag, the product can be overlapped stacked. When
the product is a case, it is not possible to do so.

4-28
4.8.4. Magnification of indication (Rotate products)

In the create/modify stacking program, you can rotate bags for fine-tuning.

1. Open the “Default value editing” screen.

2. Check on the “Rotate bags in ‘Magni View’ ”.

Check it ON

4-29
3. Open the “Magni View” screen.

4-30
4. Click on the products.
5. Click on the “CCW” or the “CW” button.

Rotate upon click Rotation

increment

You can change the rotation increment. Enter the value between 0.1 to 10 degrees.

If it is rotation over the pre-determined maximum degree, the below error massage
shows up.

4-31
6. Click on the “Done” `button.

4-32
7. Click on the “OK” button. Return to “Create/modify stacking pattern” screen. The
“Create/modify stacking pattern” screen does not display the fine-tuned rotation.

4-33
8. The coordinate values of T-axis are changed upon your fine-tuned rotation. See
the below display to compare.

4-34
4.9. Downloading Programs to Robot

From “Create/modify stacking pattern” screen you can download the program to
robot by clicking the “Download to robot”.

4-35
Click on [Upload. Download] button at main screen to open [Upload. download
(Communicate with controller)] screen, choose [Download to robot] in [Operation]
top right of the screen, choose programs you want, you can download the programs
to robot by clicking on [Download from PC to robot].
See [7. Upload. Download] for detail.

Select the programs Choose Click

4-36
4.9.1. Unable to downloading Programs to Robot

When you cannot download programs to the Robot, the cause(s) may be one or
some of the following case(s).

1. Start up OXPA-QmV without serial number.

2. Standard COM port is “Stand alone”

Check if it is [OXPA-QmV version information], or [PC alone] on [OXPA usage

condition setting] screen.
[OXPA-QmV version information] screen is:

4-37
 Check on [OXPA-usage condition setting] screen

3. Make sure if communication condition setting is same as in controller.

if communication condition setting is same as in controller.
if USB cable is securely connected between PC and robot.
if COM port is correctly setup.
if, in system parameter setting, baud rate of OXPA-QmV / PLCV is set to
38400 bps, stop bit to 8, and parity bit to none.

4-38
5. How to create new Program (Practical)

This section explains how to create patterns unable to be made by a simple manner
like Column or Alternative type. It also explains how to create programs for the
layouts in which station and/or pallets positions are more than one.

5.1. Variable pick up

For case, the standard case hands (end effector) are usually used. In the following
figure the product stacking direction is fixed.

Vacuum
pad

{ Product direction stackable Χ Product direction unstackable

Therefore some product is unable to make label outside (as below figure the square
mark represents label). We called “Labels out.”
We discuss the following 5 product alternative pattern.

1st layer 2nd layer

On the above figure, 1st layer’s 4th product and 2nd layer’s 1st, 3rd, 4th, 5th
products are unable to make Label out. Because the products on the station are
fixing in direction and also the relationship between label and vacuum pad position
can not be changed.

For this situation the hand is turned by 180 degrees before pickup (Procedure for
turns hand 180 degrees see the section "3.3. Stacking order and editing detail").

5-1
This “turns hand 180 degrees” function calls “Variable pick.” This function is not only
used for “Labels out” but also for changing direction of products. The “Variable pick”
setting must be done before creating pattern.

The following figure is “Labels out” pattern. You can see 1st layer 4th product and 2nd
layer 1st, 3rd, 4th, 5th layer changed to “Labels out.”

1st layer 2nd layer

Note:

After “Variable pick” is chosen, hand (end effector) in the standard

sequence program turns 180 degrees between step 9 (MOV9) to Step 1
(MOV1). In order to prevent the hand from this unwanted turning the
ENCHK and COUNT commands are moved to before Step 9 (MOV9) as below.

WTARM
0ENCHK M6006
COUNT
MOV 9

5-2
5.2. Stacking order and editing detail

Here is explained how the product direction or the stacking order are changed.
Before starting this edit you need to setup something as followings.
1. You need to choose a standard pattern from OXPA-QmV. For product select
[Default setting]-[Auto stack sequence] to “Auto” stacking order is fixed by
OXPA-QmV automatically.
2. Change the stacking order from layer editing.

You can change the Stacking order, Multi-pick, Turning product, Approach direction,
Product direction and Pickup direction for product from “Stacking sequence program”
dialog. For bag you can set dropping high. You need to select “Variable” for changing
Pickup direction.

5-3
You will see stopper side of station (marked with black colored square) and support
side of end effector (on which side-vacuum or fingers are installed or which is
movable to grip) (marked with triangle) as the following figure shows you.

Stopper side

Support side

5.2.1. Graphic representation of the product

Dark green with light pink: Indicates the selected product for modification
Red: The product has been sequenced (Is not dropped high.)
Dark blue: The product has been sequenced (The BAG is dropped high.)
Green: Indicates the selected product is multi picked

5.2.2. Functions using this dialog

Left “Click”: Select product. Click on the selected product to fix the stacking
order.
Right “Click”: Select the dropping high product (BAG only).
Multi-pick: It is used for multi-pick when two or more cases are picked up
from the station conveyor at the same time. Light blue colored
products for the candidates are changed to Green. Select the
entire multi-pick product then click the “Left” or “Right” on the
Light blue colored product (It is the last product for the
multi-pick). Then all products you chose become one group of
Multi-pick.
Turn: The “Turn function” turns the products in OXPA-QmV by 90
degrees relative to the default direction. This assumes that the
product will be physically turned before entering the station
conveyor. The product in the default direction enters into the
station conveyor “Width” way leading. The product that is turned
is “Length” way leading.

5-4
Approach: “Approach” button allows the operator to change the approach
direction (from step 5 to step7).
Undo: This command allows the operator to “undo” the command
selection immediately preceding the “Undo” button operation.
Product direction: The “Prdct dir” button changes the stacking direction of the
product.
Pick direction: The “Pick dir” button allows the operator to change the orientation
of the hand (end effector) when picking the product from the
station conveyor. The “Pick dir” can only be changed when the
“Pickup” is set to variable.
Clear: The “Clear” button allows the operator to do the stacking
sequence modification from the first case.
Cancel: The “Cancel” button cancels all stacking sequence modification
made. The OXPA (2/2) screen displayed.

The above figure shows 1st and 2nd products are single pickup, 3rd and 4th, 5th
and 6th, and 7th and 8th products are double pickup. For single pickup, select the
product by clicking “Left” then click again for determination. For double pickup,
select product (turns dark green color with pink) by clicking “Left” button then select
the “Multi-Pick” button, and select next product (2nd products turns dark green color
with pink) then click “Left” again. You can move to [Create/modify stacking pattern]
dialog then select [Cancel] or complete all settings. Click on “Right” button to select
dropping bag high. You can also drop multi-bags.

5-5
5.3. Pattern copy/create

You can change the stacking type from “Column/Interlock” to “Special”.

When staking type is “Special”, you can use the following functions.
z Copy pattern from other layers
z Create and replace with a new pattern to any pre-created layer

5.3.1. Specialize

If you use the pattern copy/create functions, you need to change the stacking type
from “Column/Interlock” to “Special”.

Clicking on the “Specialize” button allows you to do it.

Click on “Special”

5-6
You click on the “Specialize” button to display the following message.

[OK]: Switch over to special stacking

[Cancel]: Cancel special stacking

In special stacking, “Modify stacking pattern” button works.

5-7
5.3.2. Copy pattern from other layers

You can copy pattern from other layers.

Example: Copy pattern form the 5th layer to the 3rd layer

1st and 3rd layer 2nd and 4th layer 5th layer

1. Select the target layer (Ex. 3rd) by clicking on the “Up/Down” button of the
“stack pattern” group box.
2. Click on the “Modify stacking pattern” button.

3. Answer “Yes” for the following message.

Click here

5-8
4. Select the 9th layer for instance. And then click on the “OK” button.

Select 5th layer

Click here

5. Complete to copy operation. (The 5th layer is the same as the 3rd layer)

5-9
5.3.3. Replace with new pattern

You can create and replace with new pattern to any pre-created layer.

Example: Create only the 1st layer

1. Select the target layer (Ex. 1st) by clicking on the “Up/Down” button of the “stack
pattern” group box.
2. Click on the “Modify stacking pattern” button.

3. Answer “No” for the following message.

Click here

4. Answer “Yes” for the following message.

Click here

5-10
5. Select a pattern of the 1st layer you want

Click on the pattern

Click on the pattern

(Direction)

5-11
7. Complete newly create operation. (The 1st layer is new pattern)

5-12
5.4. Multi-place and Multi-row

Function of multi-place is used when multi-products per a pick are placed at a time
or some per a pick are placed separately. Choose [Custom stacking] at stacking type
selection, choose [Multi-place] and enter number of picks at a time into [Max.
number of multi-picks].

Only when [Station type] in station informatin is set to [Fixed position] and also
[Fixed picking position] set to [2], [Picking type] at [Stacking information] screen
can be changed to [Enable to change]. Other than that, the default of [Picking type]
is [Fixed].

5-13
Setup stacking order. See [5.2. Stacking order setting] for detail. One machine cycle
time is decided by how many places per a machine cycle are executed. If multi-picks
are split to multi-layers, the case cannot be laid out on a single figure.

Below is an example of 3-picks and 2-cycles. [A.B] represent order of machine cycle
and [1.2.3] represent order of stacking per a machine cycle.

5-14
Next, the remaining two products are laid out. The below example is of 3-picks and 2
places. One remained is stacked on next layer. Or choosing [Cycle end] allows you to
make two products one cycle.

All layers are completed with products by repeating this procedure.

5-15
5.4.1. The rear product first place

When multi-placed, stacking order and/or stacking direction may be needed to edit.
At stacking order/attribute edit, stacking order, multi-pick, turning, approach
direction, product direction, picking direction and drop high for bag can be setup.
However, picking direction can be changed only when it is set to variable.

You can choose,

z Front work first
z Rear work first

If the end effector is a double hand for rice bags (see the below), you can choose the
placing order like either the front work first or the rear work first.

Note: Double hand for rice bags

Two bags are gripped at the same time as shown in the figure below.
The end effector can separately place the front work and the rear work to
different places.

The double hand for rice

Front Rear

Station conveyor

Station conveyor position

5-16
 Choose, “The rear work first”

When [Rear product first place] is chosen, neither [Multi-place] nor [Cycle end] on
half way can be chosen.

Caution: Cycle end

If less than max pick are picked, pressing [Cycle end] button allows robot to
pick/place next ones after completing to place the products in end effector
even though there are some shortage in stacking to the layer.

5-17
The below diagram shows you a product at rear side laid after choosing [Rear
product first place]. The laid product is turned to light green. As long as no product
is laid at front side, you cannot switch over [Front product first place] to [Rear
product first place] or vs.

Unable to change
Displayed in light green

5-18
Two products gripped are placed then you can change [Rear product first place] to
[Front product first place] or vs.

Able to change

In the variable picking, both 1st and 2nd works should be in the same pick-up
direction as the 2nd none cannot be placed.

5-19
After that, do it in the same manner as used to be. The signs to represent stacking
order are comprised with capitals to show stacking order and the number to show
placing order. When rear side is first, the rear one is 1 and the front one is 2.

5-20
5.4.2. Procedure for setting the multi-row

Here is multi-row picking.

1. Left-clicking on product for multi-row picking.

Click

2. Clicking on “Multi-pick” to turn to light green which stands for “Supposed to be

multi-row picked”.

Click

5-21
3. Do the same things with other row to be picked at a time.

Click

4. Left-click on the last product which is supposed to be picked at a time. Then,

those products are set to multi-row picking.

Set to 2-row x 3 products

5-22
5. Do the same things to rest of all products to complete the setting by clicking on
“OK”.

Click

5-23
6. In [Stacking order/attribute edit] screen, setting whole products and layers has
been completed to end up with a stacking program completed. Stacking load
shape can be viewed at [Stacking type] or [Magnified display] screen.

* You can make it up to 3-row picking at maximum.

* You can create a program with “Single pick”, “Multi-pick (Single-row multi-pick)”
and “Multi-row pick (Multi-row multi-pick)” which are mixed up within a program.

5-24
6. Editing program

This section explains how to edit created programs. Also explains the program
structure to help you to edit program.

6.1. Program structure

This section explains the structure of program data.

6.1.1. Inside of Hard disk

OXPA-QmV has following data

1. System parameter
2. Communication method setting file
3. Servo parameter
4. DSP program file
5. Error information
6. Key trace data
7. Each program data

Every program which you made has program No. and you can copy or delete
program.

6.1.2. Program data

Program data has the following information

1. Program parameter
2. Sequence program (to control hand open/close, the external I/O signals, etc.)
3. Step Auxiliary data
4. Step data

The step means to divide the stacking cycle by the positions and the functions.

6-1
6.1.3. Step data
Step data has the following information

1. Step parameter
2. Position coordinate

The quantity of the position coordinates depends on that of the steps. For example,
the position of hand waiting on the station conveyor does not change by stacking
layer or stacking number. The position coordinate data of hand waiting on the station
conveyor is the one for 1st product of 1st layer (We call 1st work). On the other
hand, a stacking position coordinate has more than one position coordinates.
Alternative pattern has 1st layer and 2nd layer (odd and even layers) of all product
position coordinates data and on and over the 3rd layer position coordinates have
only the height data as odd and even layers are repeated.

6-2
Structure of program data

Robot folder System parameter

Com setting data

Servo parameter

DSP program file

Error information

Key trace data

Program data

Program data Program parameter

Sequence program

Step Auxiliary data

Step data

Step data Step parameter

Position coordinate 1st Lay, 1st product

1st lay, 2nd product

6-3
6.2. Editing program

Click on [Program editing in detail] button at main screen to open the screen.

Choose programs to edit and ones to refer then choose item to edit.

6-4
6.3. Editing Program parameter

This section explains each screen for editing program parameter.

Program No.: represents program number.

Group No.: represents program group number which can be changed.
Item code: It is product code of program which can be changed.
Name: Change the product name for program
Size: It is size (L. W) of product.
Height: Once height of product is changed, the height data of on and
over 2nd layer will be shifted.
Create by: Represents by which way of OXPA , QmV, built-in OXPA or POD,
is used when a program has been created.
Tacc scaling: Adjust an acceleration and deceleration. Negative value makes
short time of acceleration and deceleration and plus value makes
opposite.
Plt flr place: Automatically change the overall height of the stacked pallets by
detecting the pallet quantity controlled by external PLC. Select
this dialog box and enter pallet height into “Thickness” field.

6-5
Pallet thickness: Thickness of a pallet in case of pallet-on-floor.
Operation type: Bag pal, case pal, Depal
Stacking type: Column, alternative, special, RP mode. SPZ
Station No.: Station number
Pallet No.: Pallet No. only when the [10.11.2. 2 stations to 1 pallet] is
turned on, two station numbers are shown at the program newly
created.
Pick up: [Fixed] or [Variable] picking.
Dschrg mv arm: Arm to move at discharge. [Do] or [Don’t do]
Layer quantity: Actual stacking layer.
Stck height: Load height actually stacked.
C axis pos: No. of steps registered for C-axis
Weight: After changed weight, robot acceleration and deceleration speed
will be changed by automatically.

6.3.1. Layer information

It shows that a layer going to be stacked corresponds with which pattern of the
stacked layer is.

6-6
6.3.2. Inching distance

D1, D2Z, D3 and D4 are shown on the below two figures.

See the below figure of case-pal or right side on the next program parameter screen
of bag for what each variable of distance means.

6-7
6.3.3. Step 6 (ADN) Planer position

Select the either case of planer position of step 6(ADN) to be equal to step 7 or step
5 shown on the following figures.

5 5

6 6
Equal to step 5
Equal to step 7

7 7

6-8
6.3.4. Step8 (CLW) Height

6-9
Select the either case of the planer position of step8 (CLW) of which height is equal
to step 8 or not in the following figures.

Not use step 11

Standard Step9

9 9 8

Use step 11
Standard Step9

9 11 9 8,11

Note:
If station conveyor is higher than pallet and end effector hits the station
conveyor during stacking, select step 9 or use step 11.

6-10
6.3.5. Step 5 (APR) Height

6-11
Select the either case of the height position of step 5 which is equal to step 4 or not.

Not use step 10

Standard Step 4

4 4 5

Use step 10
Standard Step 4

4 10 4 5,10

Note
If station conveyor is higher than pallet and end effector hits the station
conveyor during stacking, select step 4 or use step 10.

6-12
6.3.6. Step 5 (APR) T-axis angle

Select the T-axis movement from step 5 to step 7

5 5
6 6

Parallel to Step 7 (LOD) Fixed (Lock T during R)

Note
When T-axis turns about 360 degrees during the movement from step 5 to
step 7, select “Fixed.”
At Fixed T axis, T-axis never turns though it seems turns while R-axis turns.

6-13
6.3.7. Step 10 (APU) and 11 (PUP)

Select if step10 or step 11 for inclined motion is needed.

Note
Step 10 command is “APU” and Step 11 command is “PUP.” See section
[6.5. Editing Step parameter] for detail of step command.

6-14
6.3.7.1. Inclined motion
You can get a short cut path with improved ‘Inclined motion’. End effector never
collides with equipment of the station/pallet conveyor. See the followings about how
it works.

* Station is high, and pallet is low

High station

Arm moves horizontally

(4) (10)

(5)

(9) (11)
(4) (10)

(8) (8)
Arm moves horizontally
(5) (5)

(6) (6)
(7) (7)

* Arm moves horizontally

End-effector never collides with equipment of the station conveyor.

6-15
* Station is low, and pallet is high

Low station

Arm moves horizontally

(4)

(10)
(5)

(11) (8) (8)

(10) (5) (5)

(6) (6)
(7) (7)

(9)
(4)
Arm moves horizontally

* Arm moves horizontally

End-effector never collides with equipment of the station conveyor.

6-16
6.3.7.2. ‘COUNT’ instruction of robot sequence

When you use improved ‘Inclined motion’, ‘COUNT’ instruction must be executed
between ‘MOV 8’ and ‘MOV 11’.

Instruction Comment

--omission--

MOV 8 Move to position 8 : above release position

WTARM Wait for end of arm movement
COUNT Increment the counters
MOV 11 Move to position 11
WTARM Wait for end of arm movement
MOV 9 Move to position 9 : above pickup position
WTARM Wait for end of arm movement

--omission--

6-17
6.4. Robot sequence

The robot sequence and the comment can be edited. Click on the column of the
instruction or the comment and then edit it directly. The editing can be canceled by
"ESC" key. The edit is ended by "Enter" key. The function of "Enter" key is described
as follows.

[Device comment Insert]

The device comment of the data memory or the relay in the instruction field is
inserted in the cursor position if it is set in such the device comment file of OXPA-PLC
can be referred to. It is possible to select it only while editing the comment.
[Other reference program]
Click on the “Other Reference program” button for select the reference program.
[Row Insert]
A new row is inserted above the selected row.
[Row Delete]
The selected row is deleted.
[Reference copy]
The rows of one or more from which the reference program has been selected are
inserted above the row from which the editing program has been selected.

6-18
[All copy]
The “All copy” button copies all reference sequence program to editing program.
[Syntax check]
The “Syntax check” button checks your sequence program is correct or not.
[Find and Replace]
The string of text is searched and replaced from the list view of the editing program.
The string as an object to search and replace is set with [ Inst Cmnt Both ] radio
button.
[Find]
To enter into the edit box [Find] the string to be searched Press the find button to
find.
[Replace]
It enters into the edit box the string to find and the string to replace , Press
[Replace] button to find and replace. If the string found out is matched, replace it. if
different, it continues just to find.
[Enter action]
The operation when 'Enter' is clicked while editing the instruction or the comment
is specified.
[Next line]
Turn on: The following of the selection row are edited.
Turn off: The edit of the column is ended.
[Auto insert]
It does while inserting the row next to the selection row and selecting it. When "Next
line" is only turning on, ON/OFF of "Next line" can be switched.
[OK]
The “OK” button saves your all changes.
[Cancel]
The “Cancel” button cancels all your changes.

Note
The maximum number of lines of the sequence programs is 2000 lines.

Refer to the separate "Robot Sequence Command" about how to use the sequence
commands.

6-19
6.5. Step parameters

Step parameters can be edited. Click on [Coord] at [Step] to list them. Choose one
out of the list.

6-20
Here is an example of list to show them by clicking on.

[Other reference program]

By clicking “Other reference program” reference program list box displays. Select the
reference program form this box.

6-21
[Step add]
A step is added with the smallest number not currently stored (Except step 10 and
11). So, after the step 9 the first free step number is 12. At same time when the
step is added, the initial setting for the step parameters is stored.
[Step delete]
This deletes the step at the step No. where the cursor is located.
[Reference Copy except Step/Pos]
Copy the selected reference program to selected editing program except Step and
Position data.
[Copy all]
Copy all without step 10 and 11 data of all the items including [Step] and [Position]
is copied to the editing program from reference program.
[Copy standard steps]
Copy all step 1 thru 9 data of all items including [Step] and [Position] is copied to
the editing program from reference program.
[Copy additional steps]
Copy all step 12 and over data of all items including [Step] and [Position] is copied
to the editing program from reference program.
[OK]
By clicking on “OK” saves the all changes and closes dialog box.
[Cancel]
By clicking on “Cancel” all cancels the changes.

Each step parameter is explained in the following.

Step command:
The relationship between position coordinates of different steps is determined by a
step command. When creating a new program, position storage is performed for
steps 2, 3, and 7 only.
The remaining steps are generated by calculation using the 3 steps for which position
storage has been done.
What calculation formula to use is determined by the step command in that step?
The program parameters D1 to D4 are used for the distance data used in the
calculation formula.
The relationship between step commands and position coordinate calculation formula
is shown in after.

6-22
Position command
Position command indicates if the position data in a step changes or not depending
on the layer and work being stacked, if it is fixed, or how it is changing. These
commands spend the amount of memory area needed for position data to be stored.
The relationship between position commands and the changes in position data are
shown later.

Speed
This designates the speed of arm movement to the step.
The setting ranges from values 1 thru 10.
These values indicate speeds which are expressed by 10% increments of the
automatic operation speed.

Acceleration coefficient, Deceleration coefficient

These designate the acceleration and deceleration time during movement of the arm
to the step. The setting ranges from the values 1 thru 10. These values are indicated
by 10% increments of the acceleration/deceleration time determined in system
parameters.

Overlap
This designates the stop positioning or passing by accuracy for the step.
There are such five parameters as FUL, HLF, QRT, ZRO and SPC, which increase
accuracy in that ascending order. However the accuracy of the movement coincides
with the axis in system parameters when SPC is selected.

CP/PTP
This designates the coordinate system for arm movement to the step.
In automatic operation, the R-axis and T-axis always move in their axis coordinates,
but for the D-axis and O-axis, this designation enables the following option.
PTP: Movement in each axis coordinates (Arc)
CP: Movement in arm coordinates (Linear)
Auto: Automatically switch PTP and CP.

Coordinate standard
This designates the coordinates for storage and position display of this step position.
There are following position available.
ARM: Arm coordinates
HND: Hand coordinates
PAL: Pallet coordinates

6-23
6.5.1. Step commands list

Step
Calculation formula Position coordinate Concept Z shift
command
HWT(RZ)=STA(RZ)+D1 Position D1 above STA
HWT X
HWT(Rθ,RX,Rα)=STA(Rθ,RX,Rα) step
STA Stored data X
HLD Stored data X
SUP(RZ)=(1)HLD(RZ)+D1 Position above HLD step
=(2)LOD(RZ)+D2Z Height is determined by
SUP Whichever of (1) or (2) is bigger (during HLD and LOD O
inclined movement always (1))
SUP(Rθ,RX,Rα)=HLD(Rθ,RX,Rα)
APR(PX,PY,PZ)=LOD(PX,PY,PZ)+D2(X,Y,Z) Position at distance D2
APR O
APR(Pß)=LOD(Pß) from LOD step
ADN(PZ)=LOD(PZ)+D3
ADN Position D3 above LOD O
ADN(PX,PY,Pß)=LOD(PX,PY,Pß)
LOD Stored data O
CLW(PZ)=LOD(PZ)+D4 Position D4 above LOD
CLW(PX,PY,Pß)=LOD(PX,PY,Pß) step

The hand passes on the product and D4 is

CLW changed to the value that can come off when O
making it with OXPA-QmV by the hand without
the finger.
Only when changed D4 is smaller than D4 of a
standard program, it applies.
HRD(RZ)=(1)STA(RZ)+D1 Position above STA step
=(2)LOD(RZ)+D4 Height is determined by
HRT Whichever of (1) or (2) is larger (during STA and LOD O
inclined movement always (1))
HRT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
NON Stored data O
-During inclined movement
APU(Rθ,RX,Rα)=(1-t)x
SUP(Rθ,RX,Rα) + t x APR(Rθ,RX,Rα)
t: Inclined center
APU(RZ) =(1)SUP(RZ)
APU O
=(2)APR(RZ)
(1) or (2) whichever is larger
-During ordinary movement
APU(RZ)=SUP(RZ)
APU(PX,PY,Pß)=APR(PX,PY,Pß)
-During inclined movement
PUP(Rθ,RX,Rα)=(1-t)x
HRT(Rθ,RX,Rα) + t x CLW(Rθ,RX,Rα)
t: Inclined center
PUP(RZ) =(1)HRT(RZ)
PUP O
=(2)CLW(RZ)
(1) or (2) whichever is larger
-During ordinary movement
PUP(RZ)=HRT(RZ)
PUP(PX,PY,Pß)=LOD(PX,PY,Pß)

6-24
Note
Step command other than NON can be used only once in the same program.

Note: What is Z shift?

If there are multiple pallets on-floor, the height data is shifted according to
the number of pallets.

Shifted =O, Not shifted =X

6-25
6.5.2. The position command list

Position data to change

Commands depending on stacking Number of memory points
layers/products
FIX No change 1 point/plane, 1/height
ZSF Change every layer 1/plane, all layers/height
1 full layer / plane column stacking
ALT 2 full layers/ plane alt stacking
All layers / height
All products stacked except same
ALL pattern setting / plane
All layers / height
1 full layer / plane column stacking
TZF 2 full layers/ plane alt stacking
1 layer / height
All products stacked except same
LZF pattern setting / plane
Change both every product 1 layer / height
and layer All products stacked except same
SPL pattern setting / plane
All layers / height
All products stacked except same
SZF pattern setting / plane
1 layer / height
All products stacked except same
AZA pattern setting / plane
All layers / height
1 full layer / plane column stacking
TZA 2 full layers/ plane alt stacking
All layers / height
SP1
SP2 Not position data but functions to
Cloned by other step
SP3 calculate positions
SP4

Caution:
In case of multi-pallet on floor, height data except for FIX, TZF, LZF and SZF
changes depending on number of pallets when arm moves. However, those
don’t change when step command is HWT, STA or HLD.

6-26
6.6. Auxiliary data editing

Step auxiliary data can be edited. Click on [Drop] thru [Dat2] to list up. Choose one
out of them.

[Other reference program]

By clicking on “Other reference program” reference program list box displays. Select
the reference program form this box.
[OK]
By clicking on “OK” saves the all changes and closes dialog box.
[Cancel]
By clicking on “Cancel” cancels all the changes.

Each step parameter in followings is explained.

Dropping from above

If dropping form above is designated, LOD positions shift up by the distance defined
as D3. Dropping from above function is able to use only for Bag palletizing.

Pickup direction
This can be used only when variable pick-up is designated. 0 or 2 can be selected.
Depending on the selection, STA and HLD step position are designated in the
following way.
0: Position storage position above station
2: 180 degrees inverted storage position above station

6-27
Pickup quantity
This designates the value for incrementing or decrementing the stacking counter.
This is set so that counter value and stacking quantity match when handling more
than one work.

APR direction (Approach direction)

This designates the position relationship between APR step and LOD step.
Normally, it is automatically designated depending on the relationship between
position of pallet and that of station.

Turn
When turn is designated, a turn signal can be output to the peripheral conveyor’s
control.

Data 1
This enables setting of flag for internal use inside the robot.
In case of multi-row pick, it shows number of rows.
In case of multi-place, it shows number of picks.

Data 2
This enables setting of flag to be sent to external PLC.
In case of multi-row pick, it shows end of row.

Caution:
You can not edit the auxiliary data created by OXPA.
OXPA lists up nothing when you click on either one of [Drop] thru [Dat2],
because those data is linked with OXPA itself.

6-28
6.7. Editing Step position coordinate

Step position data can be edited. Edit them clicking on each position coordinate. You
can cancel by ESC key what you edited.

In all the coordinates at arm, hand, pallet or station, the numbers are shown in unit
of 0.1mm. So fraction number can be used in editing.

[Other reference program]

By clicking on “Other reference program” reference program list box displays. Select
the reference program form this box.
[Ref all copy]
Copy position data of all axes of reference program to that of program to edit.
[Ref surface copy]
Copy only planar position data of reference program to that of program to edit.
[Ref height copy]
Copy only height data of reference program to that of program to edit.
[OK]
By clicking on “OK” saves the all changes and closes dialog box.
[Cancel]
By clicking on “Cancel” cancels all changes.

6-29
6.7.1. Pallet coordinates

This coordinate indicates the center of products on pallet away from the pallet origin
point.
PY

Pallet
PX

Pallet origin point Opposite side of pallet origin point

6.7.2. Station coordinates

This coordinate indicates the center of T-axis away from the center of station
conveyor stopper.
SY

Stopper
SX

Flowing direction

Station conveyor
Station conveyor origin point

6.7.3. Arm coordinates

This coordinate indicates the position of point A on arm away from the origin point of
robot.

6-30
6.7.4. Hand coordinates

This coordinate indicates the center of T-axis away from the origin point of robot.

Important!
A 2 axis robot (A700II-P, A1600II-P, BltJr etc.) works at a
2-dimensional plane. Due to this reason, there is the following
restriction.

(1) [Copy] Group Effective, only when edit programs are arm
coordinates.
(2) [Reference copy] group is effective only when an edit program and a
reference program are arm coordinates.

6.8. Auto Height calculation

This function works to recalculate the height (Z coordinate) of product from 2nd layer.

Select “Yes”, recalculate the height (Z coordinate) of product from 2nd layer.
Select “No”, does not recalculate the height (Z coordinate) of product from 2nd layer.

[OK]
By clicking on “OK” saves all the changes and closes dialog box.
[Cancel]
By clicking on “Cancel” cancels all changes.

6-31
6.9. Extended axis position data

Position data of extended axis can be edited. Click on each item to edit them. You
can cancel by ESC key what you edited.

Step add :Add steps of C axis

Last step delete :Delete last step of C axis
Axis change :Change axis out of multi-extended axes
Row add :Add row of extended axis
Row delete :Delete the last row
OK :Make changes effective then close screen
Cancel :Make changes ineffective then close screen

Caution:

Step 1 – 3 are calculated by OXPA-QmV. Step 1 is close position, step 2 is

jog open and step 3 is fully opened. See [Installation and Service manual
(Electrical) for detail.

6-32
7. Upload / Download

All files in projects and the communication between OPXA-QmV and controller are
explained.
For the very first time to communicate, make sure in advance if [Standard COM port]
on [Version info of OXPA-QmV] is NOT set to {PC alone} but the COM port is
connected with controller.

Click on title of main screen to open [Version info of OXPA-QmV].

Click on here
7-1
View / Refresh (PC)

Files in PC (laptop) are listed. Such files as system parameters, etc. are shown on
left column if available. Available stacking programs are shown.

7-2
7.1. View / Delete (Robot)

Stacking programs in controller are shown up on right column. But such system files
as system parameters are not shown. Stacking program can be deleted.

7-3
7.2. Download to robot

Files in PC (laptop) are listed on left column. Such system files as system parameters
will be displayed with the names if available.

Stacking programs and system files in PC (laptop) can be downloaded to controller.

Note: Upload and download

Sequence comments can be also uploaded/downloaded together with

stacking program only when both [10.11.1. Transfer robot comment files] is
turned on and sequence comments are available.

7-4
Below message pops up when system parameters are downloaded. For fail-safe
measure, the default setting is such robot inherent data as [Origin offset] is OFF and
[Robot speed to change to [1] is ON. Double check if it is really OK before switching
over ON/OFF.

Yes : Overwrite system parameters

No : Don’t overwrite
All : Overwrite other files downloaded as well as system parameters
Cancel : Neither send it nor send any files to be downloaded

If any other system files than system parameters and the stacking programs are in
controller, the below message pops up.

Yes : Overwrite system parameters

No : Don’t overwrite
All : Overwrite other files downloaded as well as system parameters
Cancel : Neither send it nor send any files to be downloaded

7-5
7.3. Upload to PC

Files in controller are listed on right column. Such system files as system parameters
will be displayed with the names if available. Available stacking programs are shown.

Available system files and stacking programs can be uploaded to PC (laptop) from
controller.

7-6
Below message pops up when system files and stacking programs are in PC (laptop).

Yes : Overwrite system parameters

No : Don’t overwrite
All : Overwrite other files uploaded as well as system parameters
Cancel : Neither uploads it nor uploads any files to be uploaded

7.4. Verify PC - Robot

It verifies the files in PC (laptop) with that in controller. If all the same, “ ” is
marked. Or if not same, “ ” is marked in front of the names.

7-7
Comparison list can be shown having list on right side. If [Upload to PC] is chosen
first and then [PC-Robot verify] is chosen second, both sides are listed.

7-8
8. Program utilities

[OXPA auxiliary function] is opened if [OXPA auxiliary function] is chosen on [OXPA

mode] screen. On the screen, to delete, copy or to backup whole stacking programs
can be done.

Click

8-1
8-2
8.1. Program delete

Choose from list Click

* Possible to
multiple choose

Delete procedure
(1) Choose [Delete program]. But [Delete program] is chosen by itself as a default
right after [OXPA- auxiliary function] screen is opened.
(2) Choose programs to delete.
(3) Click on [Delete] button.
(4) Press [Close] button to close [OXPA auxiliary function].

Caution:
When all the programs in PC (laptop) are deleted, choose all programs with
[All select] button and delete them with [Delete] button.

8-3
8.2. Program copy

Note:
When a program copied from other is used for actual stacking, mating with
the peripheral conveyor control may be failed from time to time. It is much
easier for you to create a new program not by copying other one but created
by [OXPA mode] screen.

Copy procedure
(1) Choose [Program copy].
(2) Choose programs to copy from list.
(3) Enter program No. in copy destination.
(4) Click on [Execute] button.
(5) When repeat, repeat (2) through (4).
(6) Press [Close] button to close [OXPA auxiliary function].

Caution
You cannot copy if some programs are in copy destination. The programs
need to be deleted or the other program No. is to be designated.

8-4
8.3. Back-up

Backup procedure
(1) Choose [Backup].
(2) Choose a drive at backup destination.
(3) Click on [Execute] button.
(4) [Complete] message pops up when backup is completed. Click on [OK].

(5) Press [Close] button to close [OXPA auxiliary function].

8-5
Caution
You cannot backup if the same name is already backup at the backup
destination.
It is impossible to overwrite with the same project number.

You may need to delete the project No. in the backup destination, designate
other drive or use such other memory device as USB thumb drive.

8-6
8.4. Global recalculate

Possible to choose [Global recalculate] when [OXPA auxiliary function] is chosen at

main screen.

OXPA recalculates stacking programs based on the stacking positions/pattern and

the system parameters. A program parameter can be chosen out of the program or
other program.
The succeeded data can be chosen out of the pattern structure or the stacking
positions.
In case of [Recalculate without basis program], the program uses its own. In case of
[Recalculate all by basis program], you need to enter [Basis prg No.].

8-7
Click on [Scan] button after you enter [Basis prg No.]. OXPA scans programs of the
same conditions.

The scanning conditions: Station No.

Pallet No.
Type of product is [Case-pal], [Bag-pal] or [De-pal].

Programs in the same scanning conditions

8-8
[Kept data]
Pattern structure: Pattern structure is kept. Position data in the
program for recalculation won’t be changed even if changed.
Pattern in which load shape is adjusted to pallet edge will be
back to the previous situation.
Stacking positions: Stacking positions are determined by both load shape created
with pattern structure and fine-tuning at magnified display
screen.

8.5. Capacity calculate

[Capacity calculate] can be done when [OXPA auxiliary function] at main screen is
chosen.

8-9
8.5.1. Simulation of “Robot capacity”

OXPA-QmV simulates robot sequence commands and calculates capacity (robot

stacking speed).

8.5.1.1. Arm position control

The time of the robot arm moving from “MOV” through “WTARM”

OXPA-QmV simulates how long it takes, from the start position to the target position,
with “Acceleration coefficient”, “Deceleration coefficient”, “Overlap” and “CP/PTP” of
the “Step parameters”. The simulation is carried out between pallet to pallet. If step
2 does not exist or is not processed, OXPA-QmV discontinues the simulation and
ends with error message.

The following robot sequence commands equalize “MOV” in the calculation.

SMOV and SMOV2

If the following robot sequence commands exist, OXPA-QmV does not know the
target position. OXPA-QmV discontinues the simulation and ends with error message.
MVDWN, MOVDM and/or MVPOS

8.5.1.2. Substitution

OXPA-QmV simulates Relay Substitution for relay and/or DM. The relay and/or DM is
zero at the time of that begins to be simulated.

8-10
8.5.1.3. Wait state

The following robot sequence commands count waiting time. If these exist between
“MOV” and “WTARM”, OXPA-QmV takes the waiting time or moving time whichever
happens longer.
WTTMR and WTMSP

“BMETM” is counted only when the amount or moving time whichever happens
longer.

The following robot sequence commands do not count.

AMSPS, AMSSC, BMEPS, WTAPC, WTCON and WTHND

The relay turns neither ON nor OFF “WTCON”.

8.5.1.4. System control

“COUNT” counts up next product(D1), or next layer(D0) and next product(D1).

If “COUNT” does not exist or is not processed, OXPA-QmV discontinues the
simulation and ends with error message.

“ENCHK” checks if one pallet stacking is completed.

The following robot sequence commands are discarded.

CALC, NOP, OFST and SETER

8.5.1.5. Data access

“RDPZ” reads from step’s height and stores to the DM.

The following robot sequence commands are discarded.

RDCP, RDCZ, RDPOS and RDSPD

8-11
8.5.1.6. Program branch

OXPA-QmV continues simulation “JMPL” jump to target “LBL”, “JTOP” and “ENDP”
return to beginning of robot sequence program.

The following robot sequence commands are discarded.

PGSEL and JMPP

8.5.1.7. Condition and loop branch

OXPA-QmV decides the next process with the true or false of “IF” and/or “LOOP”. The
relay and/or DM are cleared to zero when simulation starts. D0 and D1 are counted
by “COUNT”.

8.5.1.8. Other commands

OXPA-QmV discards other commands.

8-12
8.5.2. Parameters of “Capacity calculation”

OXPA-QmV has the following parameters.

8.5.2.1. Open
In case products are “BAG”, OXPA-QmV needs the time of “WTCON” to be entered by
you.
(Maximum 20000msec)

In case products are “CASE”, OXPA-QmV can simply execute “WTTMR” whatever
“Open” is.

Side vacuum type

In case E.E. type is as below, time of E.E. opening needs to be added to “Close” for
compensation.

Finger type Vacuum type

8.5.2.2. Close
OXPA-QmV needs the time of “WTCON” to be entered by you.
(Maximum 20000msec)

8.5.2.3. Discharge
OXPA-QmV needs the time of pallet discharge to be entered by you.
(Maximum 60000msec)

8-13
9. Print parameters

[Print-File output] screen shows up, clicking on [Print] button at main screen.

Clicking on [Reset] button allows it to adjust to proper printing location.

Font types for printing are JIS=MS MINCHO 36pt, and English=Courier New 32pt.

In stacking program printing and/or file output, such contents as program

parameters, sequence program, step parameter4s, step auxiliary data, or step data
can be chosen respectively. Number of lines, height of line and comment location of
sequence program in printing can be specified.

Clicking on “Print out” allows it to output to the default printer. Clicking on “File
output” allows printer to output the file of [Print.txt] into project folder.

9-1
10. Default settings

In [OXPA Use Condition] setting, a correct password needs to be entered in order to

protect the important default setting data.

Clicking on [OXPA Use Condition] button at main screen allows it to open

[OXPA-QmV default settings (default. communication)] screen.

10-1
10.1. Stopper direction

The stopper direction “combo box” is changed by the operator when they need to
program at the robot and would like to view the patterns at their laptop screen in the
same way as at the robot. When the operator is standing at the laptop screen, it can
be set in such that the pallet conveyor and pallet stop are displayed as follows: left,
right, up (front) or down (rear).

When the stopper direction is set correctly, the pattern displayed on the screen and
the actual pattern viewed on the pallet will match. The correct view helps reduce
programming mistakes during pattern creation.

10.2. Product size

Enter the maximum and minimum Length, Width and Height of the product.

10-2
10.3. Maximum load size

Enter the maximum load width at the “Front view” field, when viewing the stack from
the pallet stop.

Enter the maximum load width at the “Right side view” field, when viewed the stack
from the right side of pallet stop.

If there is a load size limit including pallet height, enter max load size including pallet
height into [Height including pallet] box. If there is no such limit, enter [0].

10.4. Overhang ratio

The overhang ratio numbers determine the amount of acceptable distance that a
product is allowed to overhang the edge of the pallet without being unstable.
The overhang ratio needs to be entered.
Even if larger size is forced to be entered into the pallet overhang, it may be failed to
program as the size may be over the product overhang ratio.

Note:
When all of “Large product”, “Small product” and “Threshold” are zero,
OXPA ignores product overhangs.

10-3
Note: What is the overhang?

When the smaller size among length and width sizes of the product is larger
than the large-small-size-judgment ratio, the large-product-overhang factor
is taken. When the smaller size is equal or less than the judgment ratio, the
small-product-overhang factor is taken. Then the smaller size is divided by
either factor to result in getting the product overhang.

For example: Use following case for overhang understanding

Max. dimension of the load from pallet stopper in the flow way. 1600
Max. dimension of the load from pallet stopper in side way. 1400
Pallet origin point L Side
Pallet length 1200
Pallet width 1100
Pallet overhang 150
Large-product-overhang factor 4
Small-product-overhang factor 6
Large-small judgment ratio 500
Product length 640
Product width 480

Compare the product length with the width. Smaller one is width of 480mm.
It is moreover smaller than the large-small judgment ratio. Take the
small–product-overhang ratio to determine the overhang. This value is
“80.”

480 / 6 =80

Next, compare the pallet overhang with the value of “80” which we got in
the above calculation. “80” is smaller value. It means the final overhang for
this product load is not the pallet overhangs but the product overhang
calculated.
Add “80”mm to pallet dimension.

1200 + 80 × 2 = 1360
1100 + 80 × 2 = 1260

These values are still inside the planned maximum load dimensions. So, this
is acceptable. Therefore, the stacking pattern can be created within the
following range.

Pallet L side = 1360

Pallet W side = 1260

10-4
10.5. Variable height setting

“Actual Height” on “Create / modify stacking program” screen is limited within the
range from -20% to +20% of the original height calculated by “No. of layer” and
“Product height”. When you enter “Actual Height” over the limit, OXPA-QmV pops up
the following alert (Fig.2), and cancel the value you enter.

Fig.1

It is limited

Limited range
1000 x 0.8 = 800
1000 x 1.2 = 1200

Fig.2

10-5
If needed, you can change the limited range up to until +/-70%.

+/-20% +/-70%

Original
Height

Fig.3

Default After changed

From -20% to +20%. From -70% to +70%.

Procedure of the changing the limited range.

1. Open “Default value editing” screen.

2. Check ON “Variable” of “Actual height limit”.
3. Choose the limited range you want clicking on pull down for “Lower” and/or
“Upper”.

10-6
When “Variable” of “Actual height limit” is OFF, the limited range are back to the
default (From -20% to +20%).

Fig.4

Check it ON.
And, change the
limited percentage.

10-7
In the above example, “Lower” is -50%, and “Upper” is +30%. If you enter wrong
height at Fig.1, the following alert pops up (Fig.5). Re-enter correct one.

Limited range
1000 x 0.5 = 500
1000 x 1.3 = 1300

Fig.5

10.6. Approach (For special uses)

This value can be set to change the approach to the top layer in a different way than
the other layers. This prevents the robot from going out of range at the top of the
movement envelope. If it is set to “0” the top layer has regular approaches equal to
the other layer.

10.7. Overlap ratio (Bags)

It is adjustable with the percentage you enter that how much overlapped bags can
be stacked exactly within the pallet size. See the following explanation to know how
to get the percentage.

W size

L Size

How to get the percentage is explained below using the above example.

10-8
 L-L

% : partial / L size x 100 overlapping

L size

L-W W size
L size becomes a standard when
L size is smaller than W size.

% : partial / min(L,W) x 100 overlapping

W-W
W size

% : partial / W size x 100 overlapping

10.8. E.E. change threshold

Set the maximum product length for pick up by small hand. “E.E. 1” is assigned to
Smal hand and ”E.E. 2.” is assigned to large hand. When this selection field is set to
“0”, the hand changing doesn’t work.

10.9. Maintenance check cycle

Whenever the time of motor power on cycles through the milestone of the
maintenance, it is alerted with the message of [Time to Periodical maintenance] on
POD screen.

10-9
10.10. Auto stack sequence

When a new stacking program is created at [OXPA mode], the default of stacking
order is to be set to auto or manual. If auto, bag-drop high is also set in auto.

10.11. Check boxes

10.11.1. Transfer robot comment files

Sequence comments can be uploaded/downloaded to controller together with

stacking programs. This is to be turned on when sequence comments are
uploaded/downloaded. Turn it off if unnecessary.

Caution
The total volume of stacking programs along with sequence comments are
increased by about 30%. So, the max number of programs stored is
decreased by the same % accordingly.

10.11.2. 2 stations to 1 pallet

In the program of from-two-station-to-one-pallet palletizing, you turn it ON to

automatically make the position data of the 2nd station. The sequence program and
the step commands in the basis program need to support palletizing of
from-two-station-to-one-pallet. Turn it OFF when unnecessary.

10.11.3. Calculate on the soft limit

When the robot moves from step 5 to step 7, T-axis may spin nearly 360 degrees. If
you check it ON, the position data of T-axis is created in order to prevent the above
mentioned spinning. The position data re-created is compared with that of checked it
off. Then position data at higher capacity is selected. This works neither for "
Multi-place" nor "De-palletizing". This can't be used together with "2 stations to 1
pallet".

10-10
10.11.3.1. Prevent T-axis from unwanted spinning

OXPA-QmV can prevent T-axis from the following three unwanted spinning at MOV
5-7, 4-5 and/or 8-9.

Check on:
The calculation base is changed to soft
limit form 180 degrees fixed.
The default value is set to OFF for the
existing 180 degrees fixed.

10-11
10.11.3.2. Soft limit of T-axis

T-axis can spin as follows.

Purple line;
Blue line; T-axis origin point
T-axis spinning
Red line;
AT(+) side.
T-axis
spinning
T-axis soft
limit
T-axis soft
limit
-220 +220

Ex. T-axis can spin between -220 and 220 degrees at maximum.

T-axis never ever spins beyond the soft limits which are adjustable.

In the robot controlling basis logic, T-axis spins taking short cut direction. If it moves
to -179 of target position from 179 of current position, it spins to 181. Refer to the
robot manual “Installation and Adjustment”.

10-12
10.11.3.3. Case of moving P-5-7

Ex. T-axis values are

P (Pick-up position) -60
5 (Step 5) +150
7 (Step 7) +130

Red line explains the case at the check box OFF. Spinning P to 5 CW is shorter
direction than CCW. T-axis spins CW from -60 (P) to -210 (5), as spinning CCW from
-60 (P) to +150 (5) is longer.

To go to 7 from 5, not-shorter direction CCW is to be calculated as T-axis can not

spin CW from -210 (5) to -230 (7) because of the soft limit.
T-axis never ever spins beyond the soft limit -220.

Then, T-axis eventually spins unwontedly, like T-axis to spin CCW from -210 (5) to
+130 (7).

When the check box is ON, T-axis spins CCW from -60 (P) to +130 (7) along blue
line as a result of the OXPA-QmV logic improvement.

First, OXPA-QmV changes the robot controlling basic logic.

Second, T-axis spins CW from 5 (+150) to 7 (+130) to prevent from unwanted
spinning.

10-13
10.11.3.4. Case of moving X-4-5

Ex. T-axis values are

X (Origin point) 0
4 (Step 4) +160
5 (Step 5) -120

Red line explains the case at check box OFF. Spinning X to 4 CCW is shorter direction
than CW. So, T-axis spins CCW from 0 to +160.

When it goes to 5 from 4, not-shorter direction CW is calculated as T-axis can not

spin CCW from 160 (4) to +240 (5) beyond the soft limit +220.
T-axis never ever spins beyond the soft limit +220.
Then, T-axis eventually spins unwontedly, like T-axis to spin CW from +160 (4) to
-120 (5).

When the check box is ON, T-axis spins CW from x (0) to 4 (-200) (beyond 180 deg
line) along blue line as result of the OXPA-QmV logic improvement.

First, OXPA-QmV changes the robot controlling basic logic.

Second, T-axis spins CCW from 4 (-200) to 5 (-120) to prevent from unwanted
spinning.

10-14
10.11.3.5. Case of moving 8-11-9 along inclined motion

Ex. T-axis values are

8 (Step 8) -120
11 (Step 11) Intermediate point +20 -160
9 (Step 9) +160 -200

When the check box is OFF, T-axis is calculated based on the 180-degrees-fixed.
OXPA-QmV calculates the intermediate point as follows.
Ex. {-120(8) + 160(9)) / 2 = +20(11).

It spins from 8 to 11 CCW and then 11 to 9 CCW, as the red line shows. Then, T-axis
looks eventually spinning unwontedly from 8 (-120) to 9 (+160).

When the check box is ON, T-axis is calculated based on the soft limits instead.
OXPA-QmV calculates the intermediate point as follows.
Ex. {-120(8) + -200(9) }/ 2 = -160(11).

Then, T-axis spins CW from 8(-120) to 9(-200) along the blue line to prevent from
unwanted spinning CCW
from 8 (-120) to 9 (+160).

10-15
10.11.4. Align by palm (Fork only)

When the “Align by palm (Fork only)” is checked ON, you can use on the screen of
“End effector and station-conveyor parameters” the function by which palm / paddle
is positioned slightly touched up against with products when picked up.

10.11.5. Rotate bags in ‘Magni view’

Turn it ON when bags are fine-adjusted in rotation positioning on Magni view. See
[4.8.3. Magnification of indication] for how to fine-adjust for detail.

10.11.6. Sheet DM only positive value

You can turn the sheet DM to positive value.

The default of “Sheet DM only positive value” is OFF.

If you want to set DM positive value, turn it ON.

Then “Sheet DM only positive value” to be turned;

ON: Sheet DM values ranges from 0 to 32767.
Which means you can check from “On the pallet”
to “On the 29th”.
OFF: It ranges from -32768 to 32767
Which means you can check from “On the pallet”
to “On the 31st”.

10-16
10.11.7. Use ‘Lock with internal key’

To protect the controller’s files from overwriting by mistakes, check it ON and then
you can lock with internal key.

10.11.7.1. After locked

When already locked, check box is disabled.

10-17
OXPA can detect the difference of the internal keys between Laptop and controller.
If the internal keys are differed, the below error massage pops up.

You can not try to download wrong data files.

If the internal keys are matched, you can download.

Moreover, the below error message pops up to stop downloading when tried to
transfer to controller from a project on which [Protect system-parameter of robot by
internal key] is set to OFF.

10.11.7.2. Procedure for unlock

Caution
Such data as system parameters, servo parameters, stacking programs and
OXPA-PlcV are reset/cleared so that do backup first following the below
procedure 1 and recover following the below procedure 6.

1. Upload all the files in robot controller to back them up.

2. Change robot type to other type on POD.
3. Cycle power at robot controller.
4. Change robot type back to originally type on POD.
5. Cycle power at robot controller.
6. Download all the files back to robot controller.

10-18
10.11.8. Set COM Port Exclusive For Order Project

Checking box [Use COM Port limited to project] ON allows it to setup a separate COM
port exclusively used for a project other than standard use.

10.11.9. Multi-row is kept into program

When you use multi-row picking, you can chose into which side the row number is
kept at step auxiliary data "Into program" or "Into data 1".

10.11.10. Use aux-data2 for multi-row

When you use multi-row picking by a type of pusher on station, you can chose if
"station-device movement data" to control the peripheral equipment per a row is
kept into auxiliary data2.

10-19
10.11.11. Set pallet position by “HT”

When you register the pallet origin, you can set "HT" instead of "opposite of pallet
origin point". (Instead of the opposite point of the origin)

10.11.12. Use “Group No.” & “Item code”

On both OXPA mode screen and program parameter screen, you can choose if
"Group No" and "Product type setting" are able to be set.

10.11.13. Fork type end effector ignores product guide

on station

When end effector is of fork type and station is also "One side basis", if there is a
guide which products are pushed up against and the fingers also exist right over the
guide, an alert message pops up to resutl in robot arm to fail to be operated. If
fingers never hit the guide, this checking allows the fingers to be inserted even over
the guide.

10-20
10.12. Comment file for robot sequence

Clicking on “Import from PLC” button at bottom right of “Default settings” screen
allows you to designate a comment file for robot sequence.

10-21
Click on “OK” to open the next “Designate the comment file for sequence program”.
Click on “Open” after comment file chosen.

This function is setting the store allocation for sequence program.

1. Select the command from menu bar-[Utilities]-[Comment designate]. Just after
the create robot program, comment file allocation can not be set.
2. Comment file allocation screen is displayed.
3. Enter the file allocation into “File allocation” field and file name into “File name”
field.

When the comment file for sequence file is setup you can display or printout the
sequence program’s data memory and relay with comment at section 4.2.3. [Editing
Program parameter] and section 9. [Print parameters].

If command file for sequence file is not setup you can not add the comment on to
sequence program’s data memory and relay.

Make comment file for sequence file for each Robot.

The comment file for sequence file is saved as [Project.cmt] and into a different
folder from OXPA-QmV.

10-22
The file names of the comment files imported are displayed on screen.

10-23
10.13. Master password

Whole project is protected by [Master password]. The default is “Need (Customer)”.

Choosing “Not protected” allows OXPA not to confirm any password. All functions can
be used. Therefore, it is strongly recommended that you choose “Protected” to
protect the important configuration data from crushing/losing when you as a service
technician leave customer site after installation is completed.

10-24
11. Parameter setting

A correct password needs to be entered to protect the important configuration data

at [Station & end effector registration].

Clicking on “EE & Conv. parameters” button at main screen allows you to open “End
effector and station conveyor parameters” screen.

11.1. Station parameters

Register stations. Choose [Station type]. The type of station chosen is displayed at
right side. Pressing the arrow marks at the top left corner allows you to choose the
direction of view.

11-1
11.1.1. Station type

Choose either one out of [Belt], [Roller] or [Fixed pick position].

Figure: Belt

Figure: Roller

Figure: Fixed pick position

(All center)

11-2
 End-effector (For double E.E.)

Product Product
Station

Station conveyor position

Figure: Fixed pick position

(For double E.E.)

Figure: Fixed pick position

(Typical)

11-3
11.1.2. Palm direction above conveyor

<Left side, Right side>

This designates the direction of gripping at station. The view direction is along the
flow line of product from upper conveyors.
The palm of EE located at either left side or right side is to be set. See the below
explaration for more info.
<Auto>
Which case is higher in robot speed, left-side or right side is automatically chosen
depending on the required rotation angles of T-axis.

Auxiliary palm:
If the end effector has a side vacuum or fingers etc., the palm which moves to
open/close is called the auxiliary palm. Normally, the right palm becomes the
auxiliary palm.

If the “Synchronized palm” is set to “YES” in “Hand (end effector) dialog box, the
descent position above the station (step 2) and the pick-up position above the
station (step 3) are generated at the same position.

If the “Synchronized palm” is set to “NO”, step 3 is generated at the position where
the hand (end effector) closes. At this time, calculation is conducted taking the right
palm as moving side and the left palm as fixed side.

Note
Auxiliary palm: Palm with vacuum, finger or moveable palm is called
Auxiliary palm or support palm.
Right palm: When robot is positioned at home and then is looked from
behind the robot, right side the palm is called “Right palm” and left side
palm is called “left palm.”

11-4
11.1.3. First roller:

If station is roller type, the distance between station stopper and the first roller
center which is most close to the stopper needs to be entered. Then OXPA-QmV
makes program for fingers.

11.1.4. Roller pitch:

When the station conveyor is roller type, the roller centers are to be entered.

11.1.5. Picking Fixed Distance

This is used for fixed position type of station. Distance between origin of station and
center of end effector is entered like the case when vacuum end effector picks one
product up to multiple ones at the exact same position. Zero is to be entered into the
picking fixed distance in case product center is always required at the exact same as
end effector center whatever the product’s shape changes like bags.

11.1.6. Minimum gap

This is used to prevent the hand (end effector) from colliding with the fixed stop on
the end of station conveyor. Enter into this field the minimum required distance
between edge of the palm and the fixed stop on the end of conveyor. Setting value
ranges from 1mm to 999mm. When you enter “0” the minimum gap is 20mm.
Because the older version of robot controller is set to 20mm while OXPA-QmV
minimum gap is “0.”

11-5
11.1.7. Gap of prd on sta

The gap between products is entered when the gap is required on stacked load.

Note:
The station type is set to "Fixed type (For double E.E.)" to leave the gap.

Hand

Product Product
Station

Station conveyor position

Gap of prd on sta

11.1.8. Turn direction

If a turning device is used to rotate each product by 90 degrees on the station

conveyor, the “Turn direction” field is selected. Designate the direction clockwise or
counter-clockwise when it is turned.

11.1.9. Side label dir above conveyor

This is set only when the "2 stations to 1 pallet" is ON. Along the flow direction of the
products, the side label direction is set to "right side" or "left side". If there are side
labels at both sides, the major side is recommenced to use.

11-6
11.2. End effector parameters

Register end effector on this screen. Choose [EE type]. Type of EE chosen is
displayed at right side.
Pressing the arrow marks at the top left corner allows you to choose the direction of
view.

11.2.1. E.E. type

The hand (end effector) type that is used is designated. Each type of hand (end
effector) like [Bag], [Case] or etc. requires to enter the distinct information so that
the pickup and set down are correctly calculated. Different hands (end effector) are
used for different stacking situations and the positions of the products differ on how
they actually positioned relative to the robot.
The case hand (end effector) clamps the products by two paddles. The side vacuum
hand (end effector) regularly uses vacuum assist to give additional support to the
products.
The bag hand (end effector) is of the type that two claw type mechanism just fits
between conveyor rollers and close/hold bags from the bottom.
The vacuum hand (end effector) is of the type that has a single horizontal surface
with multiple vacuum cups.

11-7
11.2.2. Finger (with/without)

Some of the case hands (end effector) have forks (fingers) that go between the rolls
on the case conveyor like the bag hand (end effector). Select whether or not, there
are fingers on the hand (end effector).

11.2.3. Synchronized palm

When a hand (end effector) opens and closes the palms are either synchronized
(move symmetrically and together) or none synchronized (where only one of the
palms moves or moves asymmetrically). If the left and right palms move by the
same distance when the hand opens and closes, set “Synchronized palm” to “YES.” If
a palm on one side is fixed, set “Synchronized palm” to “NO.” When “Synchronized
palm” is set to “NO”, the right palm is assumed to be the auxiliary palm. Steps 2 and
3 are automatically generated.

Note
Auxiliary palm: Palm with vacuum or finger or moving palm is called
Auxiliary palm or support palm.
Right palm: When robot is positioned at the home and be looked from
behind the robot, right side the palm is callded “Right palm” and left side
palm is called “left palm.”

11.2.4. Auxiliary palm

The auxiliary palm is aligned with one side of the station conveyor during picking up.
With fixed pick up, the auxiliary palm is aligned with the side of the station as
selected so in this field.
The right side of the station is referenced as if the operator were sitting on the
product as it contacted the product stop. The station conveyor right would be the
operator’s right. The station conveyor left would be the operator’s left.

11-8
11.2.5. Collide chck (pos)

“Need”: OXPA-QmV checks whether the end effector collides with the already
stacked products on the pallet at “Stacking sequence modification” screen.
“No need”: OXPA-QmV does not check at all.
Collided Endeffector : Yellow

Already stacked Just set down

Fig. The end effector is longer than the product.

The stacking sequence shown above is rejected with bellow message.

In case of “Drop”, OXPA-QmV does not check.

Collided Endeffector : Yellow

Already stacked Just set down

Fig. The end effector with side appliance.

The stacking sequence shown above is rejected with bellow message.

In case of “Drop”, OXPA-QmV does not check.

11-9
11.2.6. Collide check (Apr)
“Need”: OXPA-QmV checks whether the end effector and/or products of all the
approach direction collides with the already stacked products on the pallet at
“Stacking sequence modification” screen.
“No need”: OXPA-QmV does not check.

Collided During approaching

Already stacked Just set down

Fig. The products is on the adjunct appliance side

The stacking sequence shown above is rejected with bellow message.

If the end effector type is “For Bag”, OXPA-QmV does not check.

11-10
11.2.7. Auto-adjust (Cnv)

“Need”: OXPA-QmV checks whether the end effector collides with the station stopper
and the rollers. If the end effector collides with it, OXPA-QmV auto-adjusts the
pick-up position.
“No need”: OXPA-QmV does not auto-adjust the pick-up position.

Endeffector : Yellow
Finger : Green

Auto-adjust
Roller : Gray
Station stopper : Orange red

Fig. Auto-adjustment with the station stopper and the rollers

If considered to be interfered, it automatically moves back. No error message shows

up.

11.2.8. To overlap

You can stack various products such as bundles. When “To overlap” is checked ON,
you can overlap the products. Default is OFF and you can check it ON. If E.E. type is
“Bag”, this is fixed to ON automatically.

11.2.9. To drop

You can stack various products such as bundles. When “To drop” is checked ON, you
can drop the products high. The default is OFF, and you can check it ON. If E.E. type
is “Bag”, this is fixed to ON automatically.

11-11
11.2.10. Product Gap:

Product gap is the distance between products that is to be maintained during pattern
generation. This is similar to palm gap, however, the product gap is used where
products are spaced greater than the palm thickness to allow for cooling, or product
specific reasons. This parameter uses the same value in all end effector.

11.2.11. End effector weight

Enter the hand weight only. This value is used for acceleration and deceleration
calculation. This parameter uses the same value in all end effector.

11.2.12. Attachment angle

When a hand (end effector) is installed to the end of robot arm at the other than
90-degee increments, an installing angle is used to correctly set the hand (end
effector) orientation.
Install the hand (end effector) when T-axis is “0” degree in the Arm coordinate. Then
Install the hand with right palm to right side of robot. Enter the value of installing
angel (To the left is plus “+”, to the right is minus “-“).

11.2.13. Aligned distance

To align products with the right fixed palm of fork type EE on pickup station, you can
enter the distance to push the products back to the conveyor center.

11-12
11.2.14. Longest radius

Enter the max radius between point A and any EE devices.

Enter the longest radius of end effector.

11-13
11.2.15. Length

For clamp style hands (end effectors) enter the widest paddle/palm size into the
length. For finger style (bag or fork) hand (end effectors) enter the finger mounting
frame size into the length. For vacuum style hand (end effector) enter the vacuum
cup diameter or frame size for vacuum attachment into the length.

11.2.16. Opened width

This dimension is used to verify if the product is not too large during pattern creation.
Enter the dimension between paddles/palms when they are fully opened.
You can enter this only for case.

11.2.17. Closed width

This dimension is used to verify if a product is not too small during pattern creation.
Enter the dimension between paddles/palm when the paddles are closed. You can
enter this only for case.

11.2.18. T offset (C)

On synchronized palms “C” is the distance from the center of the hand (end effector)
mounting flange holes to the center of the palms.
On non synchronized palms “C” is the distance from the center of the hand (end
effector) mounting flange to the fixed paddle.

11.2.19. T offset (D)

The hand (end effector) generally does not close in this direction. In most cases “D”
is the distance from the center of the hand (end effector) mounting flange holes to
the actual center of the hand (end effector) relative to how it needs to center over
product.

11-14
11.2.20. First finger

To calculate the position of the fingers, OXPA-QmV needs the position of the fingers
relative to the length of the paddle. The first finger distance is measured from the
end of the paddle or finger mount (front of the hand (end effector) to the center of
the first finger.

11.2.21. Height

For a hand (end effector) without fingers, enter into the height the distance from the
hand (end effector) mounting flange surface to the tip of the palm or bottom of
vacuum cup. For a hand (end effector) with fingers, enter into the height the
distance from the hand (end effector) mounting flange surface to the top of the
fingers when closed.

11.2.22. Frame depth

or case and bag hand (end effector) the frame depth is used in calculation to prevent
the hand (end effector) from interfering with the product when it is hanging it over
during picking up. The distance is measured from the hand (end-effector) mounting
flange surface to the bottom of cylinders or brackets.
For bag hand (end effector) there is no such function.

For vacuum hand (end effector) enter the hand height.

The frame depth is used in calculations to account for the collapse of vacuum cups.
The frame depth is the distance from the hand (end effector) mounting flange
surface to the bottom of vacuum cups when the hand (end effector) is under vacuum
holding products.

If you are using a case type hand (end effector) with paddle and height of the paddle
is relatively short, you may have to adjust the pick-up position height because of the
tolerances that are built into the OXPA-QmV calculation (depending on the height of
the handle article).
The distance required to avoid interference between the hand (end effector) and the
product during picking up is automatically added to the pick-up height at the station.

11-15
11.2.23. Palm/CV- top gap

This is used to determine the minimum value between the palm bottom and the
station conveyor. For a hand (end effector) with no fingers, enter the distance into
the value needed between the station conveyor top surface and the bottom edge of
the palm when the hand (end effector) grips the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, enter the distance into the value needed
between the station conveyor top surface and the top of the fingers (when fingers
are closed). Normally the entering value is signed +/-, plus for a hand (end
effectors) without fingers and minus for a hand (end effector) with fingers.
The distance typically used with bag hands (end effectors) is -10mm.

11.2.24. Palm/Pallet gap

This is used to determine the minimum value for palm clearance to the pallet. For a
hand (end effector) with no fingers, enter the distance to the value needed between
the pallet top surface and the bottom edge of the palm when the hand (end effector)
grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, enter the distance to the value needed
between the pallet top surface and the top of the fingers (when fingers are closed).
The distance typically used with bag hand (end effector) is +40mm.

11.2.25. Interference gap

Normally, most palletizing requires no gap between products. When the clamp style
hand (end effector) is used, the smooth paddle (around 6mm thick) is required to
stay between cases leaving a normal gap. If this gap is required to be large due to a
thick paddle, the OXPA-QmV calculations must take it into consideration.
Enter the more than the thickness of palm for case hand (end effector). For bag
hand enter “0” because bag hand (end effector) is able to drop high.

11.2.26. Pad to prd-edge

Possible to enter only for Depal EE. Enter the distance between EE center and edge
of product.

11-16
11.2.27. Fork type E.E. parameters

OXPA-QmV calculates Step2 position from the “Distance between E.E. center and the
station conveyor position”.Step2 position is always fixed from the station conveyor
position.

Step3 position is calculated from Step2 and new parameter.

E.E Center

Prds

Distance between Fix Plate and E.E. Center (J)

- <-> +
Distance between E.E. Center and the station conveyor position (L)

11-17
11.3. Action of end effector

11.3.1. For bag

The position data at step 2 is calculated by the “T-offset” and “Station origin
position” in order to locate the center of the end effector opened equal to that of
work. The step 3 does not exist at any bag stacking program.

Step 2

Station

Step 7

Pallet

11-18
11.3.2. For case

With finger

Without finger

The position data at step 2 is calculated by the “T-offset” and “Station origin
position” in order to locate the center of the end effector opened equal to that of the
product (work). If the synchronized palm is specified, the position at step 3 is equal
to at step 2. If the asynchronized palm is specified and also the moveable paddle
(palm) is either at “right side” or “left side”, it is calculated so as to locate the center
of the end effector closed equal to that of the product (work).

11-19
Step 2

Station

Step 3 (Synchronized palm)

Station

Both palms move

Step 3 (Asynchronized palm)

Ex: Arm moves with an auxiliary moveable palm set at “right side”.
Ex: Arm never moves with an auxiliary moveable palm set at “Stay there”. (Ignore
Right)
Arm move

Station Station

Auxiliary palm is “Right” Auxiliary palm is “Ignore Right”

Arm move Arm do not move

In the both cases above, the auxiliary moveable palm moves to close.

11-20
Step 7 (Synchronized palm) (Asynchronized palm)

Pallet Pallet

Both palms move to open The auxiliary moveable palm moves to open

11.3.3. Vacuum

The position data at step 2, 3 and 7 is calculated by the “T-offset” and “Station origin
position” in order to locate the center of the end effector equal to that of the product
(work).

Step 2 and 3

Station

11-21
Step 7

Pallet

11.3.4. Depal-pad

The position data at step 7 and 2 is calculated by the “Plate to EECL(L)” and “Pad to
prd-edge(N)”. “Plate to EECL(L)” means the position of the fixed plate.
“Pad to prd-edge(N)” means the position to pick up products to depalletize.

Step 7 (Pallet)

Pallet Pallet

The fixed plate moves by the distance of “Pad to prd-edge(N)” until touching the
product.
Light green : Vacuum equipments

11-22
Step 8 (Above pallet)

Move opposite palm

Step 2 (station)

Station

Both palms move to open

11-23
11.3.5. Fork type

The position data at step 2 is calculated by the “the fixed palm” and “Station origin
position”. The size of the product never affects it. The fixed palm right touches on the
product at step 3. The location depends on the size of the product. The position at
step 7 is calculated assuming the fixed palm to touch on the product. The step 7 also
depends on the size of the product.

The red chain lines represent the station conveyor position.

(1) Step 2 (Fixed position always). The Guide is “Center”.

Small Large

pickup conveyor pickup conveyor

11-24
(2) Step 3 (This position depends on the size of the product. The Guide is “Center”.

Move Robot Move Robot

Small Large
Move Fork Move Fork

Arm moves. Fork moves.

(3) Unload the products at Step 7 (Regardless of the guide)

Small Large

Pallet Pallet

11-25
12. Station & Pallet setup

A correct password is to be entered to protect important configuration data at

[Station location & pallet setup].

Click on [Conveyor position, pallet] button at main screen to open [Station & pallet
setup] screen.

12.1. Station conveyor position

12.1.1. Registering station origin point

OXPA-QmV uses a single point on the station conveyor to help calculate step 2 which
is the key value in determining the remaining steps. This point gives us the station
origin.

12-1
1. Intersect point of HX and HY:
The position of the station is referenced in “Hand coordinates.” This allows the
installer to measure directly from the center of the robot in Hx and Hy directions and
from the floor with reference to the robot base casting for the Hz direction.

2. Station conveyor direction:

In order for OXPA-QmV to understand if the product is traveling from the robot’s left
to right and contacting the fixed stop or traveling from the robot’s right to left and
contacting the fixed stop the station angle(Hα) is also critical to correct positioning.

3. The station angle (Ht also referred to as Hα) is determined by the combination of
the product travel direction and the + direction of the robot’s Hx-axis. Enter the
station angle clockwise (with minus) or counter-clockwise (with plus).

Note
Unused station conveyors can not select or register the origin point.

Note

12-2
12.1.2. One side basis (guide)

You can select the products flow center of the station conveyor or the flow along one
side of the conveyor. For example, if there is a pusher that registers the entire
products against a guide on the right, the right should be selected. Left or Right is
viewing from the flowing direction (Fixed stop on the end of conveyor is top).
Station width:
When you select the left or right in the guide field, enter the conveyor width to
“width” field.

Selection contents for “guide” Input value of “Width” field Guide =Right
funtion

Fixed stopper Right

corner
Left Center Right
corner corner

Station Product
conveyor
origin point

Input double width for “width” field.

Flowing Station width will be “0” if guide is
direction of station origin point.
product

Flowing
direction of
product

12.1.3. Registering pallet origin point

The pallet conveyor position is made up of two points on the pallet which help to
determine the stacking products. These two points determine the pallet origin and
give us the pallet coordinates used during programming. The other part of the
calculation is the pallet parameter (size) which is discussed later. The two points
making up the pallet origin can be at the center, left, or right of the pallet. (The
decision of teaching the center, right, or left is called teaching point-referred to
below.)
Enter the Hand coordinate of pallet origin point and opposite of pallet origin point in
HX, HY and HZ. The position of the pallet is referenced in “Hand coordinates.” This
allows the installer to measure directly from the center of the robot in HX and HY
directions and from the floor with reference to the robot base casting for the Hz
direction.

12-3
Pallet Terminology:
The front and rear positions of the pallet are used to define the pallet coordinate
origin. The pallet has a front, back, left and right. Generally, the pallet is positioned
by the conveyor until the pallet contacts a fixed or pop up stop. The pallet edge that
contacts the stop is routinely designated as the front. OXPA-QmV references this
edge when palletizing. The remaining side of the pallet is referenced from the front.
If you are on the pallet facing the front the rear is behind you, the left is your left,
and the right is your right.

Teaching position:
The teaching position determines the pallet origin on the center, left or right of the
pallet referenced to the front of the pallet.
When using multiple types (sizes) of pallets on the same pallet conveyor, select a
teaching point (pallet origin) that will remain constant between the pallets ranges
used. For example, if the pallets used do not change in width, then the pallet center
does not change and the center should be taught as the pallet origin. If there is a
pallet pusher that registers all of the pallets against a guide on the right then the
right should be taught as the pallet origin.

Note
When “Set pallet position by HT (Direction)” on the screen of “Default
setting” is ON, you can do “Teaching potion of pallet” like “Registering
station origin point”.

12-4
Pallet width orientation:
When pallet parameters (pallet size) are defined, one side is registered as the width
(PW). PW is always referenced to the front of the pallet. In the “Pallet width
orientation” (Formerly “Approach for fork lift”) field, the pattern selection depends
upon which the side of the pallet is contacting the pallet stop (i.e. is the pallet wide
way or narrow way leading).

Pallet discharge direction:

The pallet discharge direction is to be set in which way a stacking complete pallet is
discharged.
Setting this direction allows POD screen to display the triangle mark to indicate the
discharge direction on the pattern screen.

12-5
12.1.4. Extreme distance away from ‘Conv pos’

Open the “Station & pallet setup” screen.

Enter the extreme distance along ‘Flow/Side dir’

including attached devices away from ‘Conv pos’.

Station conveyor

Attached devices

Flow dir

Conveyor Position

Side dir

12-6
12.1.5. Distance ‘Plt edge’ to attached equipment

Open the “Station & pallet setup” screen.

Enter the extreme distance along ‘Flow/Side dir’

including attached devices away from ‘Plt edge’.

Pallet edge

Attached devices

Pallet

Flow dir

Side dir

12-7
12.1.6. Qty Plt on floor

Number of maximum pallets when the pallets are piled up on floor. This value is not
used when it is not pallet on floor. Whether piled or not depends on the reference
program.

Refer to the "Robot Manual - Teaching" concerning the "Pallet floor placement".

12.1.7. Lifter setting

When palletizing directly on a pallet that is supported by a powered lift, the pallet is
lowered after stacking is completed. The “distance for fall” is the amount the lift be
lowered. When not using a lift, enter the “distance for fall” value to zero (0)

Lifter descending layer (base lay for fall)

When the “distance for fall” above is not entered to (0) the robot firstly stacks the
amount of layers set in “base lay for fall” from the coordinates generated by the
pallet and station conveyors (as usual). After stacking the base layers, the robot
stacks the following layers of products at a height equal to the original stack height
minus the “distance for fall” set above.

12-8
12.2. Pallet parameters

Choose 1 through 15 out of [list]. Enter pallet size next. PL represents depth and PW
represents width of pallet viewed from fork truck approaching direction. Enter
overhang values. The overhang at both sides of PW is to OHW, fork truck side is to
OHL2 and the opposite side is to OHL1. Press [Register] button after entered.

12.2.1. Pallet list

Possible to view the registered pallets at [View list]. The default pallet for daily use
can be designated on the list as [Standard pallets].

12-9
13. Maintain custom pattern

On [Maintain Custom Pattern], the exact password has to be set to protect the data
of the inherent patterns.

13.1. Create custom pattern

For how to create a custom pattern, let’s have a example of 19 products in total
which consists of four 4-wheel-patterns and three more products.

13.1.1. Create sample pattern

The same below screen shows up as well when [Pattern add] at [Pattern selection] is
clicked on.
The screen is divided into such four areas and named Chartreuse area (A), Cyan grid
area (B) , Top area (C) and Bottom area (D). Those are respectively explained in
detail.

Top area (C)

Chartreuse area (A)

Bottom area (D)

Cyan grid area (B)

13-1
13.1.2. Create Odd layer pattern

1. Drag & drop and lay using a mouse a product to cyan-grid area (B) from
chartreuse area (A). The product is surrounded by a red doublet when laid.

2. Drag & drop and lay second and third products in other direction. All the three
products are surrounded by a red doublet which represents a external line of the
pattern you are working on.

13-2
3. Create two 4-produt-wheel patterns next each other in the same manner as
done at the previous 1 and 2.

4. Lay three products other than 4-wheel patterns in the same manner as done at
the previous 1 and 2.

Note
When you can not register the custom pattern, OXPA grays out
“Registration” button then the product disabled to handle is colored in light
gray.

13-3
5. Lay the remained two 4-wheel patterns in the same manner as No.1 and 2.

6. The pattern you have created is located a bit offset left in the cyan grid area
(See the above cyan painting palette). If you want, pressing [Centering] button
at bottom allows the pattern to be centered in the cyan grid area.(See the below
palette)

Click on this [Centering]

to center pattern in
cyan grid area.

13-4
7. Edit a central product to be centered in the pattern surrounded by red doublet.

Grid

Center of the
whole pattern

Magnified

13-5
8. Products in cyan grid area (B) are to be laid by a grid division. So the current
central product may be shifted either direction of upward or downward.
Checking [Use half grid division] ON allows the product in cyan grid area to
move by a half grid division to be centered.

Checking this ON to
change a grid division
to a half one.

A half division laying

The default is a full grid division. If needed, check “Use half grid division”
ON to move products by a half grid division.

13-6
9. Move a central product by a half grid division to be centered.

Move it by a half
grid division

1/2 grid division

Center of pattern

Magnified

13-7
10. Now, the central product looks laid in the center of the pattern. However, OXPA
still doesn’t know where the central product is within the red doublet. In order to
center the product within the pattern and mate with the red doublet, checking
both [Hrz] & [Vrt] ON at [Mate with center line] and [Cross point] ON at [Mate
center product].

Mate product with

the cross point of
red doublet

Red doublet
The red doublets represent the external or central lines of the pattern you
are working on, with which all the products are to be mated each other in
positioning.

Cross point
The cross point of both vertical and horizontal red doublets is used to mate
the central product with the center of the pattern. If just either red doublet
would be used, mating a product may be failed.

13-8
11. Only the products laid at the corners of red doublet have been mated so far.
However, other than that, the rest of the products need to be mated using the
functions at top area (C). The details are introduced later on.

11.1 Mate any products along external lines which do not mate with red doublets.
(At section 13.1, you have already experienced with the same case.) When
two products next each other in other direction are laid, click on [Outside] at
[Mate with other dir product]. The below is a example of two products to
mate with red doublet by itself as the default is set to click on [Outside].

A product at
four corners of
red doublet

A next product followed

by one at corner of red
doublet

Other direction
each other

Magnified

13-9
11.2 In order to mate product followed by mated one along external line, click on
[Inside] at [Mate with other dir product]. The below is a example of two
products to mate with red doublet by itself as the default is set to click on
[Inside].

Product mated
along external
line

Product followed by
mated one along
external line

Other direction
each other

Magnified

This is all for creation of odd layer pattern.

13-10
13.1.3. Create even layer pattern

After completed odd layer pattern, set up how the even layer pattern is created.
As these odd and even layer patterns are the exact same as when one rotated or
reversed is equal to another, let’s assume both patterns are the exact same.

Select
[Same pattern]

This is all for creation of even layer pattern.

13.1.4. Register pattern

Click on [Registration] button once both odd and even layer patters are created.

Click on this
button

13-11
Answer “Yes” for the following message.

13.1.5. Check if registration is completed and exit

Click on [Yes] to see “Check / Delete” screen.

Pattern shows up

Click on [Pattern NG] if it is wrong. You will go back to just before

[13.1.4 Registration] and rework to create a pattern after reviewing
the conditions and layout.
Click on [OK] if it is right. You will go back to [Pattern selection]. This
is all for Create custom pattern.

Click on those button

13-12
13.1.6. Detailed descriptions for each area

13.1.6.1. Chartreuse area (A)

Turned and laid

Laid left (right)
left (right)

Laid up (down)

Turned and laid

up (down)

Choose product in Chartreuse are (A). Drag & drop it to cyan grid area (B).

13.1.6.2. Cyan grid area (B)

Grid

Dropping it by releasing left button of mouse allows product to be laid in cyan grid
area (B). If you want, you can relocate it or delete a laid product by right-clicking.

13-13
13.1.6.3. Top area (C)

How to mate the laid products in positioning can be set up.

13.1.6.3.1. Two products in different direction (Outside)

One product along external line and another one in other direction are laid and
mated next to each other. See section 11.1 for the actual looks.

13.1.6.3.2. Two products in different direction (Inside)

One product off external line and another one in other direction are laid and mated
next to each other. See section 11.2 for the actual looks.

13.1.6.3.3. Mate with center line(s)

Products to mate with either central red doublet

13.1.6.3.4. Mate with cross point of center lines

A product to mate with cross point of both vertical and horizontal red doublets.
Mating may be failed if only either doublet is used.

13-14
13.1.6.3.5. Mate (2x2) brick by center line

OXPA fails in sometimes mating, if pattern is (2x2) brick.

The line of reversing axis of (2x2) brick pattern is to be specified with [Hrz center] or
[Vrt center] at [Mate (2x2) brick by].

OXPA
sometimes fails.

Example1: (2x2) brick pattern laid side by side

Example2: (2x2) brick pattern laid side by side the other direction

13-15
13.1.6.3.6. Lay products evenly

Products at left side are laid evenly on screen of [Check/Delete] after registered.

Lower part of products need to be laid evenly.

Need to be laid evenly

13-16
Evenly laid products at lower part shows up on [Check/Delete] screen after
registered.

Let’s see how products are laid if different product sizes are entered on screen of
[Check/Delete].
On the below example, only [Lower] is turned on so the upper part does not be laid
evenly.

The upper part does

not be laid evenly

Click on [Upper] at [Check/Delete] screen and register to see how products are laid.

Laid evenly

13-17
Products are also laid evenly by blue doublet. [On-line] or [Both side] for blue
doublet can be chosen.

Blue Doublet
Blue Doublet can specify products and gaps to be laid evenly.
The horizontal doublet can be moved by [Up] or [Down] and the vertical one
by [Left] or [Right].

The below example shows you a pattern to have (18)-products laid centered and
evenly spaced out.

Laid evenly

13-18
13.1.6.4. Even layer area (D)

In custom pattern creation, even layer won’t always be the same as odd one so even
layer pattern needs to be specified whenever.

13.1.6.4.1. Exact same pattern

Even layer pattern is same as odd one.

Odd layer Even layer

13.1.6.4.2. Rotated 90 degree pattern

Even layer pattern is of odd one rotated 90 degrees.

Odd layer Even layer

13-19
13.1.6.4.3. Rotated 180 degree pattern
Even layer is of odd one rotated 180 degrees.

Odd layer Even layer

13.1.6.4.4. Side by side mirror copy

Even layer is of odd one of side by side mirror copied.

Odd layer Even layer

13.1.6.4.5. Up-down mirror copy

Even layer is of one up-down mirror copied.

Odd layer Even layer

13-20
13.2. Maintain custom pattern

Clicking on “Maintain custom pattern” button at main screen allows you to open
“Check/Delete” screen.

You can walk through the custom patterns by clicking on [PREV] or [NEXT] button.
You can check, delete and remake custom patterns

OXPA displays the following screen, if there is no register pattern.

13-21
13.2.1. Remake custom pattern

Click on [Remake] to display the following screen.

You can remake custom patterns.

13-22
14. Appendix

14.1. System parameter & Others Setup

In [System Parameters], [Enter names of peripheral equipment, extended axis

setup], [Robot controller communication setup], [Servo parameter] and [SH
firmware writing down], a correct password needs to be entered to protect important
configuration data.
See [Robot manual: Installation and Service (Electrical)] for detail. In this section,
only screens of OXPA-QmV are introduced.

14.1.1. System parameters

14-1
14.1.2. Servo parameters

14.1.3. PLC setup

14-2
14.1.4. T, C and Extended axis setup

14.1.5. RC501 firmware

14-3
14.2. Error log and key trace

A correct password needs to be entered to view [Error log and key trace] as those
are also important.

Click on [Error log] button at main screen to display the below screen.

14-4
14.3. Trace Data Graph

A correct password needs to be entered to view [Trace Data] as those are also
important. When [RISC output], [Servo torque data], [Torque measuring data] are
uploaded from controller, those can be displayed on graph or be output as CSV file.

Click on [Trace data] at main screen to display the below screen once data is
uploaded.

Nothing displayed when no data is uploaded

14-5
14.4. Files inside of Hard disk

Setup OS:
It is not necessary using by recommended OS. See section 7.6.3 for recommended
OS.

Files and folders inside of installed location:

QmV.exe: Execute program
CapaJ.dll: DLL of capacity calculation
tar32.dll: DLL of sequence comment translation support
RcErLoc.bin: Essential file of error information displayed
RcKyLoc.bin: Essential file of key trace data displayed
Refprg: folders for reference program (Copied to under the new registered program).

For case palletizing:

901.pr2 - 906.pr2: Reference program for from station 1 to pallet 1 to 6
907.pr2 - 912.pr2: Reference program for from station 2 to pallet 1 to 6
913.pr2 - 918.pr2: Reference program for from station 3 to pallet 1 to 6
919.pr2 - 924.pr2: Reference program for from station 4 to pallet 1 to 6

For bag palletizing:

925.pr2 - 930.pr2: Reference program for from station 1 to pallet 1 to 6
931.pr2 - 936.pr2: Reference program for from station 2 to pallet 1 to 6
937.pr2 - 942.pr2: Reference program for from station 3 to pallet 1 to 6
943.pr2 - 948.pr2: Reference program for from station 4 to pallet 1 to 6

For de-palletizing:
949.pr2 - 954.pr2: Reference program for from station 1 to pallet 1 to 6
955.pr2 - 960.pr2: Reference program for from station 2 to pallet 1 to 6
961.pr2 - 966.pr2: Reference program for from station 3 to pallet 1 to 6
967.pr2 - 972.pr2: Reference program for from station 4 to pallet 1 to 6

14-6
14.5. Editing tool for reference pattern

Editing tool for reference pattern means edit the standard pattern in OXPA-QmV (Call
Internal pattern) and original registered pattern for each robot (Call Original
pattern).
This function is able to register the new pattern to Internal pattern and Original
pattern. Also you can delete the pattern program.

14.5.1. Start up for editing tool for Reference pattern

Execute the [Qm2Koho.exe] from Start-[Program]-[Okura]. Then following screen

will be displayed.

Just after the installation of OXPA-QmV, file will not selected. Open the Internal
pattern or Original pattern from menu bar-[file]-[Open].

14-7
14.5.2. Create new reference pattern
Just after the installation, it is able to select only Internal pattern. Following
procedures are how to add the original pattern to certain robot.

1. OXPA-QmV has only one robot or register/delete all robots standardized stacking
pattern, select the Internal pattern and edit. For this situation following work is not
necessary.

2. Open the Internal pattern.

3. Internal pattern screen will be displayed.
4. Select the “Save with name” from menu bar-[File].
5. Following screen will be displayed.

14-8
6. Select the robot which where you want to store from “Store allocation” field.
7. Click the “Save As…” button.

8. Now you create the Original pattern.

9. Original pattern file name will be indicated at main screen title.

Saved as last saved file name. Next time when start; select the saved file name from
menu bar-[File]-[Open].

14-9
14.5.3. Registering pattern

1. Select the registering pattern from “classification” dialog box. OXPA-QmV has 12
classifications of the patterns.
2. Click once on the pattern. Your selected pattern diagram will be displayed on left
side of screen. Select the same pattern style which you want to add.
3. Click the spin buttons on the M1 to 3, N1 to 3 or enter the numbers in this field.
Pattern diagram will be changed. Also stacking quantity of each layer will be
changed too.
4. Registered pattern indicates “Yes” in Green color, unregistered pattern indicates
“No” with red color.
5. After you find registering pattern, click the “Regist” button.
6. Check box will be displayed.

14-10
7. Click the “OK” for register, Click “Cancel” for does not register.
Registration level 1 and 2 is not necessary. This is special uses for Okura.

14-11
8. After the registration red colored “No” changes to green colored “Yes.”

9. Click the “Save” button from menu bar-[File]. Then this registered pattern is
enabling to select.

14.5.4. List of all pattern delete

1. Select the “View/delete pattern.” Following screen will be displayed.

14-12
2. Enter the product quantity to be displayed in “Product/Layer” field.
3. Click the “Search” button. Displays corresponded pattern from registered pattern.

4. Indicates how many patterns are corresponded and number of indicating pattern
as above figure. Use “Prev” and “Next” button.
It is able to delete the displayed pattern.
5. Select the “delete” button when you want to delete displayed pattern.
6. Check box will be displayed.
7. Click the “OK” for delete, Click for “Cancel” for does not delete.

8. Click the “Overwrite” button from menu bar-[File]. The deleted pattern program
reflected. If you do not want to reflect do not precede this.

14-13
14.5.5. Print out for pattern
1. Select the “Print” form menu bar-[File]. Following screen will be displayed.

2. Setup the printing out range by entering the maximum and minimum of
product/layer in “Maximum” and “Minimum” field. Do not change the selection
in the “Registration pattern level.” It should be “All.”
3. Click the “Print.”
4. The pattern will be printed on the default printer in the computer.

14.5.6. How to quit

1. Select the “Quit” from menu bar-[File]. When you are not overwrite after the
registering or delete program, following check box will be displayed.

2. Click the “YES” for reflect the registering and delete, click the “NO” for does not
want to reflect the registering and delete. Finishes without displays above check
box if you did not registering and delete the program or overwrite the program
already.

14-14
 ROBOT Manual
OXPA-QmV
03 Version: 2014.04.28

<Caution>
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.

Okura Yusoki Co., Ltd.