Okura Yusoki A Series User manual

Okura Yusoki Co., Ltd.
Robot Manual
Off-line teaching software only for A series robots
OXPA-Qm II
M931E-06

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.
Definition of Operator
Important!
Definition of operator:
Only AUTHORIZED PERSONNEL can operate the robot.
The definition of “AUTHORIZED PERSON” is described
below:
The only personnel that 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. SCREEN (WINDOWS) ................................................................................ 1-1
2. HOW TO CREATE NEW PROGRAM (BASIC) ..................................2-1
2.1. TEACHING (GIVEN BASIC DATA TO ROBOT)........................................................ 2-1
2.2. CREATE THE NEW PROGRAM ......................................................................... 2-3
3. HOW TO CREATE NEW PROGRAM (PRACTICAL) ..........................3-1
3.1. SPECIAL PATTERN..................................................................................... 3-1
3.2. VARIABLE PICK UP .................................................................................... 3-2
3.3. STACKING ORDER AND EDITING DETAIL............................................................ 3-4
3.4. MULTI LAYOUT......................................................................................... 3-7
3.5. PY MODE............................................................................................... 3-9
3.6. CHECKING PATTERN AND MODIFYING .............................................................3-11
3.7. CHANGING LAYER DATA .............................................................................3-17
3.8. ADDING ORIGINAL PATTERN TO OXPA-QMII.....................................................3-18
3.9. MULTI PLACE .........................................................................................3-21
4. EDITING PROGRAM ....................................................................4-1
4.1. PROGRAM STRUCTURE................................................................................ 4-1
4.2. EDITING PROGRAM ................................................................................... 4-4
5. ROBOT SELECTION .....................................................................5-1
5.1. OUTLINE OF ROBOT SELECTION..................................................................... 5-1
5.2. ROBOT SELECTION.................................................................................... 5-1
5.3. DIRECTORY ............................................................................................ 5-1
5.4. ROBOT ................................................................................................. 5-2
5.5. NEW ROBOT REGISTRATION ......................................................................... 5-2
6. PARAMETER SETTING .................................................................6-1
6.1. SYSTEM PARAMETER .................................................................................. 6-1
6.2. HAND DATA ...........................................................................................6-13
6.3. STATION DATA........................................................................................6-21
6.4. STATION POSITION ..................................................................................6-24
6.5. REGISTERING PALLET (PALLET PARAMETER) .....................................................6-29
6.6. DEFAULT SETTING....................................................................................6-31
7. STANDARD MOVEMENT PATTERN ...............................................7-1
7.1. WHAT IS STANDARD MOVEMENT PATTERN ......................................................... 7-1
7.2. STANDARD MOVEMENT PATTERN .................................................................... 7-4
8. APPENDIX ..................................................................................8-1
8.1. FILES INSIDE OF HARD DISK ........................................................................ 8-1
8.2. ADMINISTRATION ..................................................................................... 8-2
8.3. FOR FIRST USES .....................................................................................8-16
8.4. EDITING TOOL FOR REFERENCE PATTERN..........................................................8-19

1-1
1. Preparation
This section explains the Screen (Windows) structures and basics before start create
the new pattern.
1.1.
Screen (Windows)
After installed OXPA-QmII to your Computer, click
[Start]-[Programs]-[Okura]-[OxpaQm2], then following screen (Window) shown onto
your Computer.
Click the [Start] button. OXPA-QmII asks input the serial number just after the
installation. Please input serial number when OXPA-QmII asks. Once you input serial
number OXPA-QmII doesn't ask input serial number again.

1-2
1.1.1. Security (Password)
Now you have to check the password. This password prevents the changing Robot
system parameters by unauthorized operators. Just after the installation, the
Password is unregistered. Leave the Blank for the password then click [Enter]. For
registering the Password, please see section 8.2.11.
When the Password is correct all functions are able to use. If Password is not correct
OXPA-QmII asks input password again. When you click [Cancel] you can not change
system parameter values.
1.1.2. Title bar
The below-mentioned information is displayed in the title bar.
zJob comment
zCurrent job
zRobot type
When there is “Pattern registration for each Robot",
it displays also the file name together.
Concerning “Pattern registration for each Robot" it mentions later.

1-3
1.1.3. Menu bar
The menu bar is formed [ Job selection ] [ Registration ] [ Teaching ] [ Utilities ]
[ Help ] [ Exit ] 6 handles.
[ Registration ] [ Teaching ] [ Utilities ] [ Help ] It is constituted to class.
Menu constitution is as follows.
zJob selection

1-4
zRegistration
¾System parameter
¾Servo parameter

1-5
¾End effector and station
zTeaching
zUtilities

1-6
¾View/delete Program
¾Transfer program
¾Backup

1-7
¾Password registration
zHelp

1-8
1.1.4. Tool bar
The screen which is used frequently by OXPA-QmII is designated as the icon.
With the click by the mouse, it can open the screen simply.
ICON Screen Function
Job selection New it can register job and it can select.
Position Position of the station conveyor and pallet
conveyor can be registered.
Endeffctor
parameters
Parameter of the end effctor can be registered.
The information which is necessary for teaching
program compilation can be registered.
Station
conveyor
parameters
Parameter of the station can be registered.
The information which is necessary for teaching
program compilation can be registered.
Pallet
parameter
The pallet can be registered.
OXPA (1/2) You can make up the teaching program anew.
Program editing
menu
You can use the function which is equal to the
program editing of the robot controller.
Transfer program
from PC to robot
The teaching program which was made up with
PC can be transmitted.
Transfer program
from robot to PC
Error content and the like can be acquired from
the robot controller.
View/delete
program in PC
The teaching program in PC the list is shown.
You can also delete.
Program copy You can do the copy of the teaching program.

1-9
Print out You can do the print out of the teaching
program. You can also output to a text file.
About DIY
soft pack II
The version of DIY soft pack II is displayed.

1-10

2-1
2. How to create new Program (Basic)
Case Palletizing is explained to an example for the procedure which creates a
program newly in detail. In order to create according to this procedure, the special
knowledge of a program is not required.
2.1.
Teaching (Given basic data to robot)
2.1.1. What is teaching
You must give 3 type of basic information to the Robot before starting creation new
palletizing and De-palletizing program.
1. Position (Pickup position, Stacking position, Point positions on the course, and
etc).
2. Speed (High speed, Smooth stopping and etc).
3. Communication with peripheral equipment (Hand OPEN/CLOSE, Station conveyor
condition and etc).
These 3 types of information given to Robot are called “Teaching.”
Contents 2 and 3 are standard pattern (Standard pattern is already registered in
OXPA-QmII). Okura finds standard pattern from a lot of experiences and knowledge.
OXPA-QmII calculates the position data of an item 1 automatically from a system
parameter and a product size.

2-2
2.1.2. Position Auto Calculation
Position data is able to divide to 3 contents
1. Pickup position for product
2. Stacking (Placing) position for product
3. Point positions on the course
Okura A series Robot Palletizer calculates 3 contents as following procedure.
Pickup position
This position is automatically calculated from the following data, without moving a
robot.
1) Dimension of Product (input 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)
Stacking (Placing) position
This position is automatically calculated from the following data, without moving a
robot.
1) Stacking pattern (Select when create teaching pattern)
2) Pallet station position (Registered at Parameter setting)
3) Pallet dimension (Registered at Parameter setting)
Point positions on the course
Calculate from 1 or 2 distances (D1, D2, D3, and D4). OXPA-QmII already set
suitable value; also you can change the values for each program by editing program
parameters.

2-3
2.2.
Create the new program
For creating new program, you just have to follow the screen and input values and
register the position. This section explains how to create new carton box pattern for
example.
Proceed from following screens.
1. Input product dimension.
2. Stacking pattern
3. Select from reference pattern

2-4
2.2.1. Input the product dimension
Set up the Product data
Input dimension data screen opens from Menu bar [Teaching]-[Create/delete
program…]. Also you can open this screen from tool bar icon .
New program number
Please choose program number from 1 to 999 except program number 0 and from
901 to 972. Program number 0 and from 901 to 972 are reserved for special
program, do not erase or edit these programs.
Reserved programs purposes are as followings
No. 0 : Robot waiting position
No. 901 to 948 : Reference program for Palletizing
No. 949 to 972 : Reference program for De - Palletizing
When "the memory switch SW 3-2" is turned ON, the number of the program to
create becomes the range of No.1-9999. When turning ON, the robot controller
needs to correspond to Compact Flash.
Note:
Refer to "6.1.4. Memory switch" about a memory switch.
Refer to a robot's manual about Compact Flash.
Program name (Product name)
You can give maximum 30 alphabet characters for program name. It is easy to
realize the program when you give product name.

2-5
Product dimension
Input product Length (L), Width (W) and Height (H) in millimeters (mm). Product
Length is measured in the direction of flow at station conveyor. Please see 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.
Station:
The “Station” is the point where the product is picked up from. Sometimes the
station is also referred as the station conveyor. In this field choose a station
conveyor between 1 and 4. Ordinarily the station No. is 1 if there is only one station.
Width W
Height H
Station conveyor
Length L
Handled article dimensions

2-6
Only when the "Pick both 1st and 2nd station" mentioned at "6.6. Default setting" is
ON, two station numbers are entered. When palletized from one station only, enter
the same station number to both.
Pallet station:
The “Pallet” is the point where the product is palletized at. Sometimes the “pallet” is
also referred to as the pallet station or pallet conveyor. In this field choose a “Pallet
station” No. between 1 and 6. Ordinarily the “Pallet station” No. is 1 if there is only
one pallet stack on.
End effector:
The “Hand” is the tool for pickup product. Sometimes the “Hand” is also referred to
as the End effector. Ordinarily the “Hand” No. is 1 if there is only one Hand.
Pallet Type:
The “Pallet type” is the number assigned to a specific pallet configuration including
size and orientation. Pallet type number one (1) is generally set up as the standard
and is the default number. If a different pallet type is desired enter the number (1 to
10) in this field. Up to 10 pallet types can be stored. The “Default Pallet” can be
selected from the pallet list dialog box.