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