Okura Yusoki A Series User manual

Robot Manual
Offline Stacking Program Tool exclusive for A Series Robots
OXPA-QmV
VM931 E-01_DRAFT

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
seriousl
y
in
j
ured 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-QMVINSTALL 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 THE 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 .....................................................................6-32
6.9. EXTENDED AXIS POSITION DATA .................................................................6-33
7. UPLOAD / DOWNLOAD ...............................................................7-1
7.1. VIEW /REFRESH (PC)............................................................................. 7-2
7.2. VIEW /DELETE (ROBOT).......................................................................... 7-3
7.3. DOWNLOAD TO ROBOT ............................................................................. 7-4
7.4. UPLOAD TO PC...................................................................................... 7-6
7.5. 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. SIMULATION OF “ROBOT CAPACITY” .............................................................. 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 ....................................................... 10-20
10.13. MASTER PASSWORD ............................................................................ 10-23
11. PARAMETER SETTING............................................................. 11-1
11.1. STATION PARAMETERS ............................................................................ 11-1
11.2. END-EFFECTOR PARAMETERS .................................................................... 11-7
12. STATION & PALLET SETUP ..................................................... 12-1
12.1. STATION CONVEYOR POSITION .................................................................. 12-1
12.2. PALLET PARAMETERS.............................................................................. 12-7
13. CREATE CUSTOM PATTERN..................................................... 13-1
13.1. CREATE CUSTOM PATTERN ....................................................................... 13-1
13.2. EDIT CUSTOM PATTERN......................................................................... 13-22
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

1-1
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 32bit) and
Windows 7 (Professional 32 bit)
Memory:
At least 12M bytes over to execute OXPA-QmV.
Communication port:
USB: 1 port
One communication port is required for this system.

HDD:
At least 50M bytes over to install OXPA-QmV
Maximum of stacking programs per a robot
zUse 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
zNot use sequence comment
9999 x 32768 = 313M byte/Robot
Other:
English OS, Mouse, 1024x768 display resolution over, CD-ROM drive
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, setup and robot registration procedure are first
time and daily operation after that.
Register the system parameter
Register the operation range
Determine the station position
Determine the pallet position
Setup the station
Setup the hand
Register the pallet
Register the default
Setup product dimension
Select the pattern
Creating pattern
No
Yes
Procedure after the
second time
Setup OXPA-QmV
Enter the Serial
Download the program to robot
Register the robot,
Select the robot type
No
Yes
Procedure for only at
very first time
Registered the robot?
Already set up?
END
Start
1-3

1-4
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 and 7 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 and 7, only the Administrator can uninstall this
software.

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 shows 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 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.
Robot project data of which adjusting is completed is to be copied to folder
“C:¥Okura¥OXPAQm5”.
Click on “Robot Selection” button to select robot. The below example shows you
“0X000” robot selected and returns to main screen after [Select & exit] is clicked.
Select
Click on
1-8

2-1
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.

2-2
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”.
Setup
Click on

3-1
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 flash 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 shows up if [Project selection] button on main screen is clicked on.

3-2
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 registered robots.
Projects are listed in the chosen folder.

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

3-4
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.

3-5
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.