Table 1. SETUP Infeed Stn Screen Items
ITEM | DESCRIPTION |
ITEM |
This item is the number of the infeed station as it is displayed on the SETUP Infeed Stn screen. |
INFEED STATION |
This item is the number assigned to any infeed station that you create. |
Table 2. SETUP Infeed Stn CREATE Screen Items
ITEM | DESCRIPTION |
Infeed Station Screen - This item shows the UTOOL geometry of the pointer used to teach the infeed frame. This is how the pointer is connected to the robot, with respect to the TCP. This is not the gripper geometry. | |
$UTOOL X |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Y |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Z |
This item is the length of the pointer. |
$UTOOL W |
This item is not used. |
$UTOOL P |
This item is not used. |
$UTOOL R |
This item is 0. |
Arrow Direction |
This item indicates the orientation of the fixture plate on the station. |
Infeed offset (Length) |
This item specifies the distance to shift the origin of the infeed along the length of the infeed station. |
Infeed offset (Width) |
This item specifies the distance to shift the origin of the infeed along the width of the infeed station. |
Infeed origin (P1) |
This item is the corner of the station closest to where you teach P1 using the fixture plate |
Table 3. SETUP Infeed Stn MODIFY Screen Items
ITEM | DESCRIPTION |
Infeed Station Screen - This item shows the UTOOL geometry of the pointer used to teach the infeed frame. This is how the pointer is connected to the robot, with respect to the TCP. This is not the gripper geometry. | |
$UTOOL X |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Y |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Z |
This item is the length of the pointer. |
$UTOOL W |
This item is not used. |
$UTOOL P |
This item is not used. |
$UTOOL R |
This item is 0. |
Arrow Direction |
This item indicates the orientation of the fixture plate on the station. |
Infeed offset (Length) |
This item specifies the distance to shift the origin of the infeed along the length of the infeed station. |
Infeed offset (Width) |
This item specifies the distance to shift the origin of the infeed along the width of the infeed station. |
Infeed origin (P1) |
This item is the corner of the station closest to where you teach P1 using the fixture plate |
Table 4. SETUP Infeed Fork Screen Items
ITEM | DESCRIPTION |
Infeed Station Screen - This item shows the UTOOL geometry of the pointer used to teach the infeed frame. This is how the pointer is connected to the robot, with respect to the TCP. This is not the gripper geometry. | |
$UTOOL X |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Y |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Z |
This item is the length of the pointer. |
$UTOOL W |
This item is not used. |
$UTOOL P |
This item is not used. |
$UTOOL R |
This item is 0. |
Arrow Direction |
This item indicates the orientation of the fixture plate on the station. |
INFEED PICK POSITIONS SCREEN | |
NORMAL - RIGHT SIDE OF INFEED | |
Downstream pick position |
This item is the last position before the end of the conveyor that the robot can place the forks between the rollers to pick the product. For a bag gripper, this position will almost touch the conveyor. If you are not picking up units from the right side of the infeed, you do not have to teach the normal pickup positions. |
Approach position |
This item is a position from which the robot would move linearly to the infeed pickup position. This position would move depending on which incremental pickup position was chosen between the upstream pickup position and the downstream pickup position. This position would also be taught for the bag gripper. |
Upstream pick position |
This item is the position that the robot can place the forks between the rollers furthest upstream on the conveyor. For a bag gripper, this position will almost touch the conveyor. PalletTool matches the gripper UTOOL to the optimum pickup position when using the bag gripper. |
ROTATED - LEFT SIDE OF INFEED | |
Dowstream pick position |
This item is the same as the normal downstream pickup except that it is taught on the opposite side of the conveyor. This position is the same for the bag gripper. If you do not teach this position, it will not be used. If you are not picking up units from the left side of the infeed, you do not have to teach the rotated pickup positions. |
Approach position |
This item is a position from which the robot would move linearly to the infeed pickup position. |
Upstream pick postion |
This item is the same as the normal upstream pickup except that it is taught on the opposite side of the conveyor. This position is the same for the bag gripper. If you do not teach this, it will not be used. |
Total pick positions Fork gripper only |
This item is the total number of places between the rollers that can be used to pick up a unit. Using one of the tines for reference, count the number of places between and including the upstream and downstream positions. This number must be the same for both the normal and rotated sides of the conveyor. |
FRONT | |
Front pick position |
This item is the position from which to pick up a box from the front of the conveyor. PalletTool uses the orientation that is taught but computes the center of the unit distance from the origin of the infeed and picks up the unit centered on the fork. You do not have to teach this position if you do not want to use this feature. |
Front approach position Bag gripper only |
This item is the position from which to approach the front of the conveyor. PalletTool uses orientation that is taught. You do not have to teach this position if you do not want to use the front pickup feature. |
Table 5. SETUP Infeed Bag Screen Items
ITEM | DESCRIPTION |
Infeed Station Screen - This item shows the UTOOL geometry of the pointer used to teach the infeed frame. This is how the pointer is connected to the robot, with respect to the TCP. This is not the gripper geometry. | |
$UTOOL X |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Y |
This item is normally 0. The pointer is mounted at the robot TCP. |
$UTOOL Z |
This item is the length of the pointer. |
$UTOOL W |
This item is not used. |
$UTOOL P |
This item is not used. |
$UTOOL R |
This item is 0. |
Arrow Direction |
This item indicates the orientation of the fixture plate on the station. |
INFEED PICK POSITIONS SCREEN | |
NORMAL - RIGHT SIDE OF INFEED | |
Downstream pick position |
This item is the last position before the end of the conveyor that the robot can place the forks between the rollers to pick the product. For a bag gripper, this position will almost touch the conveyor. If you are not picking up units from the right side of the infeed, you do not have to teach the normal pickup positions. |
Approach position |
This item is a position from which the robot would move linearly to the infeed pickup position. This position would move depending on which incremental pickup position was chosen between the upstream pickup position and the downstream pickup position. This position would also be taught for the bag gripper. |
Upstream pick position |
This item is the position that the robot can place the forks between the rollers furthest upstream on the conveyor. For a bag gripper, this position will almost touch the conveyor. PalletTool matches the gripper UTOOL to the optimum pickup position when using the bag gripper. |
ROTATED - LEFT SIDE OF INFEED | |
Dowstream pick position |
This item is the same as the normal downstream pickup except that it is taught on the opposite side of the conveyor. This position is the same for the bag gripper. If you do not teach this position, it will not be used. If you are not picking up units from the left side of the infeed, you do not have to teach the rotated pickup positions. |
Approach position |
This item is a position from which the robot would move linearly to the infeed pickup position. |
Upstream pick position |
This item is the same as the normal upstream pickup except that it is taught on the opposite side of the conveyor. This position is the same for the bag gripper. If you do not teach this, it will not be used. |
Total pick positions Fork gripper only |
This item is the total number of places between the rollers that can be used to pick up a unit. Using one of the tines for reference, count the number of places between and including the upstream and downstream positions. This number must be the same for both the normal and rotated sides of the conveyor. |
FRONT | |
Front pick position |
This item is the position from which to pick up a box from the front of the conveyor. PalletTool uses the orientation that is taught but computes the center of the unit distance from the origin of the infeed and picks up the unit centered on the fork. You do not have to teach this position if you do not want to use this feature. |
Front approach position Bag gripper only |
This item is the position from which to approach the front of the conveyor. PalletTool uses orientation that is taught. You do not have to teach this position if you do not want to use the front pickup feature. |
Table 6. SETUP Infeed Stn I/O Screen Items
ITEM | DESCRIPTION |
Inputs |
This item is a listing of infeed inputs. |
Outputs |
This item is a listing of infeed outputs. |
Table 7. SETUP Infeed Stn I/O DETAIL Screen Items
ITEM | DESCRIPTION |
ITEM # |
This item is the item number of the input or output you are setting up. |
INFEED # |
This item is the infeed number of the input or output you are setting up. |
UNIT # |
This item is the unit number of the input or output you are setting up. |
PORT # |
This item is the port number of the input or output you are setting up. |