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1.5. Glossary (Palletizing Function related)

 

(1)   Palletize Pattern Register

To perform Palletizing, this is the register inputting necessary data.

 

(2)   No.of Workpiece/level

To load it on one layer, this is the number of workpieces.

 

(3)   Pattern number.

To distinguish workpiece loading type (shape), this is number.

 

(4)   Workpiece formation

This means Workpiece formation Method.

 

(5)   Total stacking level

This means total layers loading workpieces.

 

(6)   Even level pattern rotation

On the basis of add numbers’ layers, this means rotation (angle) unloading even numbers’ layers.

According to rotation angle, the loading order for workpieces is changed.

 

(7)   Approach direction

Just before unloading the workpiece on a pallet, the incoming direction of step is Approach direction.

According to incoming direction, the loading order is decided.

 

(8)   Height deviation by weight or volume

If the layer height is changed because deformation is occurred by workpiece mass and volume etc., this means offsetting the deviation.

 

(9)   Height deviation by weight or volume

This means the layer to begin deviation offset.

 

(10) Sag or swell value

This means the mean value of layer height change.

 

 

MdH : Mean value Delta of the Height-deviation

Calculated loading height (Hideat) = Workpiece height (H) × the number of total layers

Field measurement height (Hreal): Loading height measured by measuring tape or other measuring gadgets

 

(11) K(constant)

This is K (constant) value offsetting change amount (linear or non-linear) of layer height deviation.

 

(12) Pallet rotation slope

This means the dip that the pattern is configured to the center of robot coordinate system, and this is Pallet slope because Pallet and Pattern are paralleled.

 

(13) Picking-up

This means the activity picking up & lifting up an workpiece from fixed jig or conveyor.

 

(14) Picking

This means the activity picking up an workpiece from fixed jog or conveyor.

 

(15) Tier-sheet

This means the paper inserting it between layers when the layer is changed during loading workpieces, insulting paper or damp proof paper.

 

(16) Inserting Tier-sheet

This means the activity inserting a Tier-sheet between layers.

 

(17) Tier-sheet Insert

This means the standard to decide the interval to insert Tier-sheets.

 

(18) The last Tier-sheet insert

Decide to insert the last Tier-sheet or not.

 

(19) Fine Adjustment

This means that the user creates wanted position data optionally and controls it by reflecting micro shift amount (dX, dY, dZ) on position data automatically created by Palletize Function.

 

(20) Palletize Count

This means the number of current processing workpieces (count).

 

(21) PALCNT

This command is Palletizing counter.