A Series

VM931 E-01_DRAFT
Robot Manual
Offline Stacking Program Tool exclusive for A Series Robots
OXPA-QmV
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
seriously injured 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-QMV INSTALL 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. 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.
1-1
HDD:
At least 50M bytes over to install OXPA-QmV
Maximum of stacking programs per a robot
z Use 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
z Not 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.
Start
Yes
Already set up?
No
Setup OXPA-QmV
Enter the Serial
Yes
Registered the robot?
Procedure for only at
very first time No
Register the robot,

Select the robot type
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

Procedure after the Select the pattern
second time Creating pattern
Download the program to robot
END
1-3
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.
1-4
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. 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.
2-1
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”.
Click on
Setup
2-2
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.
3-1
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.
3-2
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.
3-3
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.
3-4
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.
3-5
4. 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.
4.1. Create the new program
For creating new program, you just have to follow the screen and entering values
and register the position. This section explains how to create new carton box pattern
for example.
4-1
Proceed from following screens.
1. Create/modify stacking program.
2. Pattern selection
4.1.1. 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 (End-effector 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-QmV). Okura finds standard pattern from a lot of experiences and knowledge.
OXPA-QmV calculates the position data of an item 1 automatically from a system

parameter and a product size.
4-2
4.1.2. 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.
4.1.2.1. Pickup position

This position is automatically calculated from the following data, without moving a
robot.
1) Dimension of Product (Enter 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)
4.1.2.2. 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)
4.1.2.3. Point positions on the course

Calculate from 1 or 2 distances (D1, D2, D3, and D4). OXPA-QmV already set
suitable value; also you can change the values for each program by editing program
parameters.
4-3
4.2. Enter product dimension
Click on “Create/modify stacking program” button at main screen to open the below
screen.
4.2.1. Program number
Choose program number from 1 to 9999 except program number 0 and from 800 to
972. Since the program number 0 and from 800 to 972 are reserved for special
programs, do not erase or edit these programs.
The reserved programs’ purposes are as followings:

No. 0 : Robot waiting position
No. 800 to 900 : Reserved
No. 901 to 948 : Reference programs for Palletizing
No. 949 to 972 : Reference programs for De-palletizing
4-4
4.2.2. Name
You can give maximum 30 alphabet characters for program name. It is easy for you
to realize the program with given names.
4.2.3. Product dimension
Enter product Length (L), Width (W) and Height (H) in millimeters (mm). You can
enter up to the 1st decimal place of the Height (H). 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.
Width W
Height H
Length L
Station conveyor
Handled article dimensions
4.2.4. Station, Pallet, End-effector
Specify Nos. out of stations, pallets and end effectors registered.
4-5
4.2.5. Pallet Type
Standard pallet is displayed in pallet type. Choose other pallet out of the list if
needed.
4.3. Parameters
4.3.1. Maximum layers
The filed displays the maximum quantity of layers which can be stacked. The value is
automatically calculated, but can be reduced if preferred.
Note: Formula of maximum No. layer
Pallet position height(PP)

Maximum operation range height data (Z max)
Inching rise distance above pallet (D4)
Standby position above pallet height (D2z)
Actual use pallet height (PH)
Qty plt on floor (M)
Product height (H)
Pallet on the floor:

Maximum No. layer = (Zmax - PP - PH * M - ((D4, D2z)max - H)) / H
Pallet on the pallet station:

Maximum No. layer = (Zmax - PP - PH - ((D4, D2z)max - H)) / H
This layer is ranges from 0 to 99 from which it is omitted below the decimal
point. Even if the result becomes 0, it is likely to be able to stack by setting
APR(Special)
4.3.2. Layer quantity
This field displays the actual if layers that will be stacked. The actual quantity of
layers that will be stacked must be at or below the maximum quantity of layers to be
stacked.
4-6
4.3.3. Actual height:
In situations where the stacking height varies for each layer due to the product, the
“actual height” field is used to compensate. The height a completed load is measured
and this value is entered. OXPA-QmV calculates the required height decrement using
the actual height of the load and the single product height entered. This decrement
value is not used with cases.
Note: Actual height (Height Decrement)
Some product such as bag of powder, shrink in height during palletizing.

This shrinkage is due to the weight of each additional layer of product
stacked, the air entrapped in the product during manufacture which escapes
later, the fluidity of the product, or the strength of the packaging material.
When you enter actual height OXPA-QmV calculate shrinkage and enter to
this program’s program parameter.
4.3.3.1. Entered data:

Ha: Actual stacking height
H: Product height
L: Stacking layer
4.3.3.2. OXPA-QmV calculation:

d = H - ((Ha - H) / (L-1))
d: Shrinkage value
4.3.3.3. OXPA-QmV images of per layer height
H
H-d
H-d Ha
H-d
H-d
4-7
4.3.4. Nesting depth
Enter dimension of nesting depth in MM for such plastic container stacking if those
are nested.
4.3.5. Depal type
The defaults are as follows:

“Bag-pal” for bag end effector
“Depal” for Depal-pad
“Case-pal” for others
If you want to change the default to De-pal type, choose it from pull-down menu.
4.3.6. Pick-up
When “Labels out” palletizing, pickup must be “Variable.” If you does not “Label out”
palletize, pickup must be “Fix.”, OXPA-QmV automatically find stacking order without
collision with stacked product. When hand is bigger than product length, OXPA-QmV
does not think the collision with stacked product. In this situation pickup is
“Variable.” Then OXPA-QmV thinks collision with stacked product.
4-8
4.3.7. Stacking type:
Select stacking type from followings.
Column: All layers have the same pattern
Interlock: Even and odd layers are rotated 90 or 180

degrees, or are patterns with bilateral symmetry
Special: A different pattern can be selected for each layer.
4-9
Note:
Once 1st layer is fixed, Interlock type pattern created by automatically from
following rule.
1. Stacking pattern is not liner symmetry from both side of pallet, even layer
will be 180 degrees turned.
2. Stacking pattern is bilateral symmetry, even layer will be 90 degrees
turned.
1. Stacking pattern is not liner symmetry from both side of pallet, even layer will be
180 degrees turned.
Odd layer Even layer Overlap
2. Stacking pattern is bilateral symmetry, even layer will be 90 degrees turned.
Odd layer Even layer Overlap
4-10
4.3.8. Stack sequence only standard
Stacking order can be chosen “Auto” or “Manual”. In “Auto”, end effector may
interfere with products. At that case, the below message pops up when
recalculated.
“Yes”: Manually specify order. Open [Stacking order setting] screen on selected
pattern.
“No”: Choose other pattern. Back to [Candidate selection] screen.
“Cancel”: Cancel pattern selection.
4.3.9. Max # of multi-pick:
Enter the maximum pickup in one time in this field when create multi pickup pattern
by automatically. When you use this function, Hand (End effector) must be “Variable
pick.” Also Multi-place needs to enter the maximum pickup in this field.
4.3.10. Products/layer
This is the amount of products per layer required in the pattern. OXPA-QmV has
more than 2,000 patterns stored in memory to choose from and this number
narrows the search to the amount entered and less. Enter the number required in
the pattern. The default is the maximum quantity of carton boxes that will fit within
the current parameters. When you enter the number of Picks/layer, the screen
displays equal or less picks/layer patterns only.
4-11
4.4. Options (1)
Important!
The 2-axis robots (A700V-P, A1600V-P, etc.) move only within the
vertical plane. Therefore, there are the following restrictions.
1. Stacking type is only column.

2. Standard pattern type is block.
3. Useable stacking option is only "Extra top layer."
4. Pyramid mode is unusable.
5. Slip sheet is unusable.
There are the following options in stacking type.
4.4.1. Extra Even/Odd layer:
The “Extra Even/Odd layer” option allows the programmer to select alternating layers,
but choose two completely different patterns. During pattern selection the
programmer selects the pattern for layer 1 and the layer 2. The “Extra E/O layer”
option forces the product on the pallet to be stacked at the predominating pattern
edge making the load perimeter a cube.
4.4.2. Extra top layer:
The “Extra top layer” option allows the programmer to select a completely different
pattern for the top layer. This option is available when stacking type is column or
interlock.
4.4.3. Spread layer
The “Spread layer” option allows the programmer to select a moving all products to
the edge of the pallet.
4-12
4.4.4. Tight Top layer
The [Tight top layer] option allows the programmer to select a moving all product on
the last layer (top layer) to be as close as possible.
Note: Close as possible
The space is adjusted so that the stacking pattern may become a square,
and the space is not adjusted when drawing it to the center of the pallet
usually. However, the work interference space and the hand interference
space do not lose and shorten these two spaces because it needs it for
safety. Set 0 in the work interference space and the hand interference space
when you make the stacking pattern without the space.
4.4.5. Compress layer
The “Compress layer” option is used to make the pattern as tight as possible. It is
not used regularly because the patterns are normally as tight as possible, however
some applications are set up to included spacing between products and this function
removes it.
4.5. Options (2)
4.5.1. Multi-place
The “Multi-place” option is used if a end-effector has the ability to pick multiple
boxes and place them to pallet separately.
4-13
4.6. Overlap setting
4.6.1. Bag overlap:
The bag overlap is used only for the bag stacking. The pattern matched to the
external size (shown in the below figure on how to specify) can be made.
Horizontal direction is PW, and the vertical direction is PL.
Overhang setting on PL side
Pallet Dimension of PL side
Overhang setting on PL side
A stacking pattern size

when stowing it repeatedly
Dimension of PW is an area including
the overhang.
The overhang setting is
Dimension of PW side specified in the "Surface united
overlap” group box.
When "Surface united overlap" option is selected, it is not possible to use it together
with options other than "With product repeated" group box. The stacking pattern
automatically made can be fine-tuned in the expansion display.
Note: Fine-tune
The positional data adjustment in the expansion display is called

"Fine-tune". Even when the option with the product is not used repeatedly,
the stacking pattern of palletizing can be fine-tuned. Please refer to the
paragraph of the expansion display for the function and the content of
fine-tuning. Fine-tuning doesn't correspond to De - palletizing
4-14
4.7. Pattern selection
4.7.1. Standard pattern selection
Stacking program can be easily created by choosing a preferred one out of approx
2,000 patterns in OXPA-QmV. OXPA searches a pattern by number of products based
on the pallet size and the product size. Possible candidate patterns are shown up in
descending order of number of products per a layer. Double-click on a pattern you
want, choosing around with “next candidate” or “previous candidate” button. Create
a stacking program after double-clicked.
4-15
4.7.2. Registered Standard pattern selection
From pallet dimension and product dimension, OXPA-QmV search the stacking
pattern from pattern registered. Then display from oldest registered available
stacking pattern. As following figure, registered pattern displays odd layer, even
layer and by clicking right side of mouse button you can see 3D pattern. Also you
can check the “Extra top layer” or is there “Compression.”
Click the “Next page” or “Prev page” button for selecting the pattern then double
click when you find your pattern. After this create teaching program and move the
last screen which is Stacking type screen. At this moment stacking order, multi-pick
and drop (for bag) information selected as same as pattern from pattern registration.
Note:
Products to be placed on are shown in red and ones to be dropped high are
in blue. [Multi-pick], [Product direction] and [Picking direction] are
described later on at [5.2. Stacking order setting].
4-16
4.7.2.1. Use fine tuned position
When a candidate pattern is fine-tuned in positioning on [Magnified display],

stacking program is calculated by that values accordingly. However, it is displayed
without that.
4.7.3. Custom Pattern Selection
Caution: Custom Pattern
Specific patterns for order projects are called “Custom pattern”. The
stacking order needs to be specified manually one by one as products
cannot be completely mated by OXPA.
It searches a stacking patterns based on pallet size and product size out of the
custom patterns registered. Possible stacking patterns are shown up in descending
order of number of products per a layer. Double-click on a pattern you want,
choosing around with “next candidate” or “previous candidate” button. [5.2. Stacking
order setting] screen are shown up after double-clicked, on which the stacking order
is set to create a stacking program.
4-17
Custom patterns can be added on at [13. Create/edit custom pattern] or by [Add
pattern] button at [Pattern selection] screen.
See [13. Create/Edit custom pattern] for detail.
4.7.4. Registered Custom Pattern Selection
Frequently-used custom patterns can be registered and re-used clicking on

[Registered Custom Pattern Selection] button. The way of searching and creating a
stacking program is exactly same as at the previous section 4.7.3. At that time, the
stacking order, multi-pick, drop-high are no change from the registered.
Caution:
[Fine-tuned position] function and products distinguished in red or blue

color are exact same as standard registered pattern.
4-18
4.8. Load Shape Configuration and Correction
Load shape can be confirmed at screens of stacking pattern, side view, 3-D view or
magnified view of stacking method.
4.8.1. Load shift / Sheet
Here is side view. Load can be moved by [<=], [Center] or [=>]. Either load-moved-
to-pallet edge or move-by-entered value can be chosen.
4-19
4.8.1.1. Pyramid mode
When stacking in a Pyramid shape for rice pallet, etc., the program is created using
the Pyramid mode. When a program is created with this mode, the planar position in
each layer is automatically calculated so that the stacking pattern is like Pyramid
shape.
The “Base lay No.” stacking position does not change. Setting range is from 1st layer
to actual quantity of layer. Pattern will be squeezed from selected planner layer to
top and expended from selected planner layer to bottom. Position calculation is done
by automatically.
The “Inclined” box is values for decreasing measurements of pallet width side. Enter
the difference value of 1st layer outline dimension and top layer outline dimension.
After click on “Pyramid” button, each planner layer’s product positions are calculated
by automatically then planner display will be change. By click “cancel” button, you
can back to beginning.
The “Unmovable” box is set the fixed effective width. The center of this range calls
“Center of the pallet” and set this range by clicking “=>” or “<=” at last display
(each click moves 100mm).
4-20
Following figures are before using pyramid and after using pyramid.
Before
Base layer
Inclined Inclined
Products Pallet
After
Base layer
Inclined Inclined
4-21
Fig 1. Before using Pyramid mode.
Fig 2. After using Pyramid mode.
4-22
Fig 3. 3D view of Pyramid.
4.8.1.2. Sheet
Sheet placement can be setup.
DM value Sheet magazine BIT DM Layers
1 D12 0 – 15th
Negative 0 - 15 D13 16 – 31st
2 D14 0 – 15th
D15 16 – 31st
1 D12 0 – 14th
Positive 0 - 14 D13 15 – 29th
2 D14 0 – 14th
D15 15 – 29th
This can be used at Capacity calculation including sheet placement] on next page.
4-23
4.8.1.3. Example of typical sheet pick logic
OXPA-QmV can calculate the robot capacity of “Example of typical sheet pick logic”,
But, OXPA-QmV can not calculate the other sheet pick logic.
In the 1st, please check the sheet required layers.

In the 2nd, please change the sheet supply time. (Unit : 10msec)
----- omission -----
COUNT Counted up. D1 is set to the next product.
Or, D0 and D1 are set to
the next layer and the next product.
IF D1 == 0 Is the next product the 1st of layer?
IF D0 < 16 Choose DM (Pallet - 15).
D5 = D12 “On the pallet - 15th” of “Sheet hopper 1”.
ELSE Choose DM (16 - 31).
D5 = D13 “On the 16th - 31st” of “Sheet hopper 1”.
ENDIF
D3 = D0 % 16 Get the residual.
D4 = 1 << D3 “0001” is shifted by D3 to make required layer.
D6 = D4 & D5 Get “AND” D4 and D5.
IF D4 == D6 Required layer?
Y35 = 1 Sheet required relay ON.
WTTMR 40 Waiting PLC action.
4-24
Y35 = 0 Sheet required relay OFF.
ENDIF
ENDIF
4.8.1.4. Example of Every 12 layers

COUNT Counted up. D1 is set to the next product.
Or, D0 and D1 are set to
the next layer and the next product.
IF D1 == 0 Is the next product the 1st of layer?
IF D0 != 0 Not on the pallet ?
D5 = D0 % 12 Get the residual.
IF D5 == 0 Every 12 layers?
Y35 = 1 Sheet required relay ON.
WTTMR 40 Waiting PLC action.
Y35 = 0 Sheet required relay OFF.
ENDIF
ENDIF
ENDIF
4-25
4.8.2. 3D view
Here is a bird eye view of products stacked on pallet from slant top. Stacking order
can be animated on screen. The view direction can be changed by clicking on green
lined triangle. The current and chosen direction is turned to solid green color.
[|<]: Start from beginning. Displays only empty pallet.

[<<<]: Rewind the pickup quantity products for multi-place.
[<<]: Rewind the pickup quantity products for multi-pick.
[<]: Rewind only one product by order.
[>]: Forward only one product by order.
[>>]: Forward the pickup quantity products for multi-pick.
[>>>]: Forward the pickup quantity products for multi-place.
[|>]: End of stacking. Displays full pallet.
4-26
4.8.3. Magnification of indication
By clicking the “Magni view” you can enlarge the planar pattern. You can change the
layer display by clicking “Top”, “Up”, “Down” and “Bottom.” The position with the
product can be fine-tuned for Palletizing.
It displays whether fine-tuning is possible or impossible at the left of the screen.

The layer where fine-tuning is possible is the following.
In the column type, only the first layer
In the interlock type, it is the first layer and the second layer
In the special type, layer to which the same layer are not set
All layer changes if the first layer in column type is fine-tuned. Odd layer changes if
the first layer in interlock type is fine-tuned, and the even layer changes if the
second layer is fine-tuned. The layer to which a fine-tuned layer and the same layer
were set changes into a special type.
4-27
Please left-click the fine-tuned product. The screen changes as shown in the figure
below.
It is shown for the product to change into purple, and to have been selected. The
product that has not been selected changes into the black. The selected product
moves by "Arrow key" of the keyboard or "Direction" button of the screen. The
distance that moves for a click once is specified by "Pitch". The operation that ends
the movement is to click "Done" button or to left-click an area light blue outside of
the product. When the product is a bag, the product can be piled up. When the
product is a case, it is not possible to do.
4-28
4.8.4. Magnification of indication (Rotate products)
In program creation, you can rotate bags for being even out surface.
1. Open the “Default value editing” screen.

2. Check ON the “Rotate bags in ‘Magni View’ ”.
Check it ON
4-29
3. Open the “Magni View” screen.
4-30
4. Click on the products.
5. Click on the “CCW” or the “CW” buttons.
Rotate upon click Rotation

increment
You can change the rotation increment. Enter the value between 0.1 to 10 degrees.
If it is rotation over the pre-determined maximum degree, the below error massage
shows up.
4-31
6. Click on the “Done” `button.
4-32
7. Click on the “OK” button. Return to “Create/modify stacking pattern” screen. The
“Create/modify stacking pattern” screen does not display the rotation.
4-33
8. The coordinate values of T-axis are changed upon your rotation. See the below
display to compare.
4-34
4.9. Downloading Programs to Robot
From “Create/modify stacking pattern” screen you can download the program to
robot by clicking the “Download to robot”.
4-35
Click on [Upload. Download] button at main screen to open [Upload. download
(Communicate with controller)] screen, choose [Download to robot] in [Operation]
top right of the screen, choose programs you want, you can download the programs
to robot by clicking on [Download from PC to robot].
See [7. Upload. Download] for detail.
Select the programs Choose Click
4-36
4.9.1. Unable to downloading Programs to Robot
When you cannot download programs to the Robot, the cause(s) may be one or
some of the following case(s).
1. Start up OXPA-QmV without serial number.
2. Standard COM port is “Stand alone”
Check if it is [OXPA-QmV version information], or [PC alone] on [OXPA usage

condition setting] screen. [OXPA-QmV version information] screen is:
Check on [OXPA-QmV version information]
4-37
Check on [OXPA-usage condition setting] screen
3. Make sure if communication condition setting is same as in controller.

Make sure if USB cable is securely connected between PC and robot.
Make sure if COM port is correctly setup.
Make sure if, in system parameter setting, baud rate of OXPA-QmV / PLCV is set to
38400 bps, stop bit to 8, and parity bit to none.
4-38
5. How to create new Program (Practical)
This section explains how to create pattern not like Column type or Alternative type.
Also explains how to create program for layout which station or pallets positions are
more than one.
5.1. Variable pick up

For Carton box, usually uses standard Carton box hand (End effector). As following
figure product stacking direction is fixed.
Vacuum
pad
{ Product direction of stackable Χ Product direction of unstackable
Therefore some product is unable to make label is outside (as below figure square
mark is label). We called “Labels out.” For example we use following 5 products
alternative pattern figure.
1st layer 2nd layer
As figure 1st layer’s 4th product and 2nd layer’s 1st, 3rd, 4th, 5th products are unable to
make Labels out. Because product on the station is fixing also label and vacuum pad
position relation is not change.
For this situation turns hand 180 degrees before pickup (Procedure for turns hand
180 degrees see section "3.3. Stacking order and editing detail").
This “turns hand 180 degrees” function calls “Variable pick.” This function is not use
5-1
only for “Labels out” also you can use for changing direction of products. The
“Variable pick” setting is must done before create pattern.
Following figure is “Labels out” pattern. You can see 1st layer 4th product and 2nd
layer 1st, 3rd, 4th, 5th layer are “Labels out.”
1st layer 2nd layer
Note:
After the selection of “Variable pick”, in standard sequence program hand

turns 180 degrees between step 9 (MOV9) to Step 1 (MOV1). For prevent
this move the ENCHK and COUNT commands before Step 9 (MOV9) as
below.
WTARM
0ENCHK M6006
COUNT
MOV 9
5-2
5.2. Stacking order and editing detail
Here explains how change the product direction or stacking order. Before start this
edit you must setup as followings.
1. You must choose standard pattern from OXPA-QmV memory. For Carton box
select [Parameter setting]-[Default]-[Manual stack sequence] to “NO” stacking
order is fixed by OXPA-QmV automatically.
2. Change the stacking order from layer editing.
You can change the Stacking order, Multi-pick, Turning product, Approach direction,
Product direction and Pickup direction for Carton box From “Stacking sequence
program” dialog. For bag you can set dropping. You must select “Variable” for
changing Pickup direction.
5-3
You will see Stopper side mark (Black Colored Square) and support side (Triangle) of
end-effector on the product as following figure.
Stopper side
Support side
5.2.1. Graphic representation of the product
Dark green with light pink: Indicates the selected product for modification
Red: The product has been sequenced (Is not dropped from above)
Dark blue: The product has been sequenced (The BAG is dropped from above)
Green: Indicates the selected product is multi picked
5.2.2. Functions using this dialog
Left “Click”: Select product. Click the selected product again fix the stacking
order.
Right “Click”: Select the dropping from above product (BAG only).
Multi-pick: Two or more cases are picked from the station conveyor at the
same time. Light blue graphic change to Green. Select the entire
multi-pick product then click the “Left” or “Right” on the Light
blue color product (It is a last product for multi-pick) then your
chosen all product will be one group of Multi-pick.
Turn: The “Turn” function turns the production in OXPA-QmV 90 degrees
relative to default direction. This assumes that the product will be
physically turned before entering the station conveyor. The default
product direction enters the station conveyor “Width” way leading.
Product that is turned is “Length” Way leading.
Approach: “Approach” button allows the programmer to change the approach
direction (from step 5 to step7).
5-4
Undo: This command allows the programmer to “undo” the command
selection immediately preceding the “Undo” button operation.
Product direction: The “Prdct dir” button changes the stacking direction of the
product.
Pick direction: The “Pick dir” button allows the programmer to change the
orientation of the hand (end effector) when picking the product
from the station conveyor. The “Pick dir” can only be changed
when the “Pickup” is variable.
Clear: The “Clear” button allows the programmer to being the stacking
sequence modification from the first case.
Cancel: The “Cancel” button cancels all stacking sequence modification
made. The OXPA (2/2) screen displayed.
Above figure shows 1st and 2nd products are single pickup, 3rd and 4th products are
double pickup, 5th and 6th are double pickup, and 7th and 8th products are double
pickup. For single pickup, select the product by clicking “Left” then click again for
determination. For double pickup, select product (turns dark green color with pink)
by clicking “Left” button then select the “Multi-Pick” button, and select next product
(2nd products turns dark green color with pink) then click “Left” again. You can move
to [Create/modify stacking pattern] dialog select [Cancel] or complete all settings.
Click “Right” button you can select dropping bag. Also you can drop the bag more
than one.
5-5
5.3. Pattern copy/create
You can change the stacking type from “Column/Interlock” to “Special”.

When staking type is “Special”, you can use the following functions.
z Copy pattern from other layers
z Create replace with new pattern to any pre-created layer
5.3.1. Specialize
If you use the pattern copy/create functions, you need to change the stacking type
from “Column/Interlock” to “Special”.
Clicking the “Specialize” button allows you to do it.
Click on to “Special”
5-6
You click on the “Specialize” button, to display the following message.
[OK]: Switch over to special stacking

[Cancel]: Cancel special stacking
In special stacking, “Modify stacking pattern” button works.
5-7
5.3.2. Copy pattern from other layers
You can copy the pattern from other layers.
Example : Copy pattern form the 5th layer to the 3rd layer
1st and 3rd layer 2nd and 4th layer 5th layer
1. Select the target layer (Ex. 3rd) by clicking on the “Up/Down” button of the
“stack pattern” group box.
2. Click on the “Modify stacking pattern” button.
3. Answer “Yes” for the following message.
Click here
5-8
4. Select the 9th layer. And click on the “OK” button.
Select 5th layer
Click here
5. Complete copy operation. (The 5th layer is same as the 3rd layer)
5-9
5.3.3. Replace with new pattern
You can create replace with new pattern to any pre-created layer.
Example : Create only the 1st layer
1. Select the target layer (Ex. 1st) by clicking on the “Up/Down” button of the “stack
pattern” group box.
2. Click on the “Modify stacking pattern” button.
3. Answer “No” for the following message.
Click here
4. Answer “Yes” for the following message.
Click here
5-10
5. Select the pattern of the 1st layer
Click on the pattern
Click on the pattern

(Direction)
5-11
7. Complete newly create operation. (The 1st layer is new pattern)
5-12
5.4. Multi-place and Multi-row
Function of multi-place is used when multi-products per a pick are placed at a time
or some per a pick are placed separately. Choose [Custom stacking] at stacking type
selection, choose [Multi-place] and enter number of picks at a time into [Max.
number of multi-picks].
Only when [Station type] in station informatin is set to [Fixed position] and also
[Fixed picking position] set to [2], [Picking type] at [Stacking information] screen
can be changed to [Enable to change]. Other than that, the default of [Picking type]
is [Fixed].
5-13
Setup stacking order. See [5.2. Stacking order setting] for detail. One machine cycle
time in general is decided by how many products are picked at a time. If multi-picks
are split to multi-layers, the case cannot be laid out on a single figure.
Below is example of 2-picks and 2-cycles. [A.B] represent order of machine cycle
and [1.2.3] represent order of stacking per a machine cycle.
5-14
Next, the remaining two products are laid out. The below example is of 3-picks and 2
places. One remained is stacked on next layer. Or choosing [Cycle end] allows you to
make two products one cycle.
All layers are carried out with a product by repeating this procedure.
5-15
5.4.1. The rear product first place
When multi-placed, stacking order and/or stacking direction may be needed to edit.
At stacking order/attribute edit, stacking order, multi-pick, turning, approach
direction, product direction, picking direction and drop high for bag can be setup.
However, picking direction can be changed only when it is set to variable.
You can choose,

z The front work first
z The rear work first
If the end-effector is a double hand for rice bags (see the below), you can choose
the placing order like the front work first or the rear work first.
Note : The double hand for rice bags
Two bags are gripped at the same time as shown in the figure below.
The end-effector can separately place the front work and the rear work
The double hand for rice
Front Rear
Station conveyor
Station conveyor position
5-16
Choose, “The rear work first”
When [Rear product first place] is chosen, neither [Multi-place] nor [Cycle end] on
half way can be chosen.
Caution: Cycle end
If less than max. multi-picks, pressing [Cycle end] button allows robot to
pick/place next ones after placing products in end effector.
5-17
The below diagram shows you a product at rear side. The laid product turned to light
green. As long as no product is laid at front side, you cannot switch over [Front
product first place] to [Rear product first place] or vs.
Not able to change

Displayed in light green
5-18
Two products gripped are placed to enable you to change [Rear product first place]
to [Front product first place] or vs.
Able to change
Both 1st and 2nd works should be in the same pick-up direction.
5-19
After that, do the same manner as used to be. The signs to represent stacking order
are comprised with capitals to show stacking order and the number to show placing
order. When rear side is first, the rear one is 1, the front one is 2.
5-20
5.4.2. Procedure for setting the multi-row
Here is multi-row picking.
1. Left-clicking on product for multi-row picking.
Click
2. Clicking on “Multi-pick” to turn to light green which stands for “Supposed to be

multi-row picked”.
Click
5-21
3. Do the same things with other row to be picked at a time.
Click
4. Left-click on a last product which is supposed to be picked at a time. Then, those

products are set to multi-row picking.
Set to 2-row x 3 products
5-22
5. Do the same things to rest of all products to complete the setting by clicking on
“OK”.
Click
5-23
6. In [Stacking order/attribute edit] screen, setting whole products and layers has
been completed to end up with a stacking program completed. Stacking load
shape can be viewed at [Stacking type] or [Magnified display] screen.
* You can make it up to 3-row picking at maximum.

* You can create a program with “Single pick”, “Multi-pick (Single-row multi-pick)”
and “Multi-row pick (Multi-row multi-pick)”.
5-24
6. Editing program
This section explains how to edit the created program. Also explains program
structure for helping you when edit program.
6.1. Program structure
This section explains structure of program data.
6.1.1. Inside of Hard disk

OXPA-QmV has following data
1. System parameter
2. Communication method setting file
3. Servo parameter
4. DSP program file
5. Error information
6. Key trace data
7. Each program data
Every program which you made has program No. and you can copy the program or
delete the program.
6.1.2. Program data

Program data has following information
1. Program parameter
2. Sequence program (Such as hand open/close, control the external I/O signals)
3. Step Auxiliary data
4. Step data
Step means divide the stacking cycle by positions and functions.
6-1
6.1.3. Step data
Step data has following information
1. Step parameter
2. Position coordinate
Position coordinate quantity is depends on the step quantity. For example, position of
hand waiting on the station conveyor does not change by stacking layer or stacking
number. Position coordinate data of hand waiting on the station conveyor is 1st layer
of 1st product (We call 1st work). On the other hand, a stacking position coordinate
has more than one position coordinates. Alternative pattern has 1st layer and 2nd
layer of all product position coordinates data and Up to 3rd layer position coordinate
has only height data. Since it is a repeatedly of odd layer and even layer.
6-2
Structure of program data
Robot folder System parameter
Com setting data
Servo parameter
DSP program file
Error information
Key trace data
Program data
Program data Program parameter
Sequence program
Step Auxiliary data
Step data
Step data Step parameter
Position coordinate 1st Lay, 1st product
1st lay, 2nd product
6-3
6.2. Editing program
Click on [Program editing in detail] button at main screen to open the screen.
Choose programs to edit and ones to refer then choose item to edit.
6-4
6.3. Editing Program parameter
This section explains each screen for editing program parameter.
Program No.: represents program number.

Group No.: represents program group number which can be changed.
Product code: It is product code of program which can be changed.
Comment: Change the product name for program
Size: It is size (L. W. H) of product.
Height: After changed height of product, up to 2nd layer height data will
be shifted.
Weight: After changed weight, robot acceleration and deceleration speed
will be changed by automatically.
Create by: represents by which way of OXPA-QmV, built-in OXPA or POD a
program has been created.
Tacc scaling: Adjust an acceleration and deceleration. Negative value makes
short time of acceleration and deceleration and plus value makes
opposite.
6-5
Pallet on floor: Change the pallet height automatically from detected pallet
quantity by external PLC, select this dialog box and enter pallet
height into “Thickness” field.
Pallet thickness: Thickness of a pallet in case of on floor.
Motion type: Bag pal, case pal, Depal
Stacking pattern: Column, alternative, special, RP mode. SPZ
Station No.: Station number
Pallet No.: Pallet No. only when the "10.11.2. 2 stations to 1 pallet" is ON,
two station numbers are shown at the program newly created.
Picking product: [Fixed] or [Variable] picking

Arm to move at discharge: [Do] or [Don’t do]
Layer quantity: Actual stacking layer.
Actual stacking height: Load height actually stacked.
C axis registered No. of steps: No. of steps registered for C-axis
6.3.1. Layer information
It shows that a layer going to be stacked is same pattern as at which stacked layer
is.
6-6
6.3.2. Inching distance
D1 – D4 and D2Z, D3 and D4 are shown on the below two figures.
See the below figure of case-pal or right side on the next program parameter screen
of bag for what each variable of distance means.
6-7
6.3.3. Step 6 (ADN) Planer position
Select the planer position for step 6(ADN) to one of the following figures.
5 5
Step 7 6 6 Step 5
7 7
6-8
6.3.4. Step8 (CLW) Height
6-9
Select the planer position for step8 (CLW) to one of the following figures.
Not use step 11

Standard Step9
9 9 8
Use step 11
Standard Step9
9 11 9 8,11
Note:
If station conveyor is higher than pallet and end effector hits the station
conveyor during stacking, select step 9.
6-10
6.3.5. Step 5 (APR) Height
6-11
Select the planer position for step 5 height is equal to step 4 height.
Not use step 10

Standard Step 4
4 4 5
Use step 10
Standard Step 4
4 10 4 5,10
Note
If station conveyor is higher than pallet and end effector hits the station
conveyor during stacking, select step 4 or use step 10.
6-12
6.3.6. Step 5 (APR) T-axis angle
Select the T-axis movement from step 5 to step 6
5 5
6 6
Parallel to Step 7 (LOD) Fixed (Lock T during R)
Note
When T-axis turns about 360 degrees during the movement from step 5 to
step 6, select “Fixed.”
6-13
6.3.7. Step 10 (APU) and 11 (PUP)
Select need step10 or step 11.
Note
Step 10 command is “APU” and Step 11 command is “PUP.” See section 6.5.
[Editing Step parameter] for detail of step command.
6-14
6.3.7.1. Inclined motion
You can get a short cut path with improved ‘Inclined motion’. End-effector never
collides with equipment of the station/pallet conveyor. See the followings about how
it works.
* Station is high, and pallet is low
High station
Arm moves horizontally
(4) (10)
(5)
(9) (11)
(4) (10)
(8) (8)
(5) (5)
(6) (6)
(7) (7)
* Arm moves horizontally

End-effector never collides with equipment of the station conveyor.
6-15
* Station is low, and pallet is high
Low station

(4)
(10)
(5)
(11) (8) (8)

(10) (5) (5)
(6) (6)
(7) (7)
(9)
(4)
* Arm moves horizontally

End-effector never collides with equipment of the station conveyor.
6-16
6.3.7.2. ‘COUNT’ instruction of robot sequence
When you use improved ‘Inclined motion’, ‘COUNT’ instruction must be executed
between ‘MOV 8’ and ‘MOV 11’.
Instruction Comment
--omission--
MOV 8 Move to position 8 : above release position

WTARM Wait for end of arm movement
COUNT Increment the counters
MOV 11 Move to position 11
MOV 9 Move to position 9 : above pickup position
--omission--
6-17
6.4. Robot sequence
The robot sequence and the comment can be edited. Please click the column of the
instruction or the comment, and edit it directly. The editing can be canceled by "ESC"
key. The edit is ended by "Enter" key. The function of "Enter" key is described as
follows.
[Device comment Insert]

The device comment of the data memory or the relay in the instruction field is
inserted in the cursor position if it is set that the device comment file of OXPA-PLC
can be referred to. It is possible to select it only while editing the comment.
[Other reference program]
Click the “Other Reference program” button for select the reference program.
[Row Insert]
A new row is inserted above the selected row.
[Row Delete]
The selected row is deleted.
[Reference copy]
The row of one or more from which the reference program has been selected is
inserted above the row from which the editing program has been selected.
6-18
[All copy]
The “All copy” button copies all reference sequence program to editing program.
[Syntax check]
The “Syntax check” button checks your sequence program is correct or not.
[Find and Replace]
From list view of the editing program it finds or replace the string, or. As for the line
which becomes the object of finds and replaces please set with [ Inst Cmnt Both ]
radio button.
[Find]
To enter the string which is found in the edit box [ Find ] it find with the button.
[Replace]
It enters the string and the string after the replacing are find in the edit box,
[ Replace ] it find or replace with the button. The string which is selected the string
which is found in same case it replace, when it is different, it find the string.
[Enter action]
The operation when 'Enter' is clicked while editing the instruction or the comment
is specified.
[Next line]
Turn on: The following of the selection row are edited.
Turn off: The edit of the column is ended.
[Auto insert]
It does while inserting the row next to the selection row and selecting it. When "Next
line" is only turning on, ON/OFF of "Next line" can be switched.
[OK]
The “OK” button saves your all changes.
[Cancel]
The “Cancel” button cancels all your changes.
Note
The maximum number of lines of the sequence programs is 2000 lines.
Refer to the separate "Robot Sequence Command" about how to use the sequence
commands.
6-19
6.5. Step parameters
Step parameters can be edited. Click on [Coord] at [Step] to list them. Choose one
out of the list.
6-20
Here is a example of list to show them by clicking on.

By clicking “Other reference program” reference program list box displays. Select the
reference program form this box.
6-21
[Step add]
A step is added with the smallest number not currently stored (Except step 10 and
11). After the step 9 free step number is 12. At same time the step is added, initial
setting for step parameters is stored.
[Step delete]
This deletes the step at the step No. where the cursor is located.
[Reference copy]
Copy the selected reference program to selected editing program except Step and
Position data.
[Copy all]
Data of all items except for [Step] and [Position] is copied to all the steps of a
program to edit from all the steps of a reference program.
[OK]
By clicking “OK” save the all changes and close dialog box.
[Cancel]
By clicking “Cancel” all changes are canceled.
Each step parameter is explained in the following.
Step command:
The relationship between position coordinates of different steps is determined by a
step command. When creating a new program, position storage is performed for
steps 2, 3, and 7 only.
The remaining steps are found through calculation using the 3 steps for which
position storage has been done.
What calculation formula to use is determined by the step command in that step?
The program parameters D to D4 are used for the distance data used in the
calculation formula.
The relationship between step commands and position coordinate calculation formula
is shown in after.
Position command
Position command indicates whether the position data in a step changes depending
on the layer and work being stacked, and if it does not change, the command
indicates by how much. These commands cause the amount of memory area needed
for position data to be stored.
The relationship between position commands and changes in position data is shown
in the after.
6-22
Speed
This designates the speed for movement of the arm to this step.
The setting range is the values 1 - 10.
These values indicate speeds which are 10% increments of the automatic operation
speed.
Acceleration coefficient, Deceleration coefficient

These designate the acceleration and deceleration time during movement of the arm
to this step. The setting range is the values 1 to 10. These values indicate 10%
increments of the acceleration/deceleration time determined in system parameters.
Overlap
This designates the precision of the stop/pass range for this step.
There are five parameters FUL, HLF, QRT, ZRO and SPC, which increase in precision
in that order. However precision of the move coincides with the axis in system
parameters when SPC is selected.
CP/PTP
This designates the coordinate system for arm movement to this step.
In automatic operation, the R-axis and T-axis always move in their axis coordinates,
but for the D-axis and O-axis, this designation enables the following selections.
PTP: Movement in each axis coordinates (Arc)
CP: Movement in arm coordinates (Linear)
Auto: Automatically switch PTP and CP.
Coordinate standard
This designates the coordinates for storage and position display of this step position.
The following selections are possible.
ARM: Arm coordinates
HND: Hand coordinates
PAL: Pallet coordinates
6-23
6.5.1. Step commands list
Step
Calculation formula Position coordinate Concept Z shift
command
HWT(RZ)=STA(RZ)+D1
HWT -Position D1 above STA step X
HWT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
STA Stored data X
HLD Stored data X
SUP(RZ)=(1)HLD(RZ)+D1 -Position above HLD step
=(2)LOD(RZ)+D2Z -Height is determined by HLD
SUP Whichever of (1) or (2) is bigger (during and LOD O
inclined movement always (1))
SUP(Rθ,RX,Rα)=HLD(Rθ,RX,Rα)
APR(PX,PY,PZ)=LOD(PX,PY,PZ)+D2(X,Y,Z) -Position at distance D2 from
APR O
APR(Pß)=LOD(Pß) LOD step
ADN(PZ)=LOD(PZ)+D3
ADN -Position D3 above LOD O
ADN(PX,PY,Pß)=LOD(PX,PY,Pß)
LOD Stored data O
CLW(PZ)=LOD(PZ)+D4 -Position D4 above LOD step
CLW(PX,PY,Pß)=LOD(PX,PY,Pß)
The hand passes on the product and D4 is

CLW changed to the value that can come off when O
making it with OXPA-QmV by the hand without
the finger.
Only when changed D4 is smaller than D4 of a
standard program, it applies.
HRD(RZ)=(1)STA(RZ)+D1 -Position above STA step
=(2)LOD(RZ)+D4 -Height is determined by STA
HRT Whichever of (1) or (2) is larger (during and LOD O
inclined movement always (1))
HRT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
NON Stored data O
-During inclined movement
APU(Rθ,RX,Rα)=(1-t)x
SUP(Rθ,RX,Rα) + t x APR(Rθ,RX,Rα)
t: Inclined center
APU(RZ) =(1)SUP(RZ)
APU O
=(2)APR(RZ)
(1) or (2) whichever is larger
-During ordinary movement
APU(RZ)=SUP(RZ)
APU(PX,PY,Pß)=APR(PX,PY,Pß)
-During inclined movement
PUP(Rθ,RX,Rα)=(1-t)x
HRT(Rθ,RX,Rα) + t x CLW(Rθ,RX,Rα)
t: Inclined center
PUP(RZ) =(1)HRT(RZ)
PUP O
=(2)CLW(RZ)
(1) or (2) whichever is larger
-During ordinary movement
PUP(RZ)=HRT(RZ)
PUP(PX,PY,Pß)=LOD(PX,PY,Pß)
6-24
Note
Step command other than NON can only be used once in the same program.
Note: What is Z shift?

If there are multiple direct placement pallets, the height data is shifted
according to the number of pallets.
Shifted =O, Not shifted =X
6-25
6.5.2. The position command list
Position data to change depending

Commands Number of memory points
on stacking layers/products
FIX No change 1 point/plane, 1/height
ZSF Change every layer 1/plane, all layers/height
1 full layer / plane column stacking
ALT 2 full layers/ plane alt stacking
All layers / height
All products stacked except same
ALL pattern setting / plane
All layers / height
TZF 2 full layers/ plane alt stacking
1 layer / height
LZF pattern setting / plane
Change both every product and 1 layer / height
layer All products stacked except same
SPL pattern setting / plane
All layers / height
SZF pattern setting / plane
1 layer / height
AZA pattern setting / plane
All layers / height
TZA 2 full layers/ plane alt stacking
All layers / height
SP1
SP2 Not position data but functions to
Cloned by other step
SP3 calculate positions
SP4
Caution:
In case of multi-pallet on floor, height data except for FIX and TZF changes
depending on number of pallets when arm moves. However, those don’t
change when step command is HWT, STA or HLD.
6-26
6.6. Auxiliary data editing
Step auxiliary data can be edited. Click on [Dt2] at [Drp] to list up. Choose one out
of them.

[OK]
[Cancel]
Each step parameter in followings will be explained.
Dropping from above

If dropping form above is designated, LOD position will shift up the distance defined
as D3. Dropping from above function is able to use for only Bag palletizing.
Pickup direction
This is effective only when variable pick-up is designated. 0 or 2 can be selected.
Depending on the selection, the STA and HLD step position are designated in the
following way.
0: Position storage position above station
2: 180 degrees inverted storage position above station
6-27
Pickup quantity
This designates the value for incrementing or decrementing the stacking counter.
This is set so that counter value and stacking quantity match when handling more
than one work.
APR direction (Approach direction)

This designates the position relationship between an APR step and an LOD step.
Normally D2X and D2Y in program parameters match the sign of pallet coordinates,
in this case, the APR direction becomes 0, by selecting 1, 7, it is possible to shift the
positional relationship in the direction on the screen.
Turn
When a turn designation is made, a signal can be output for turning to the peripheral
conveyor.
Data 1
This enables setting of flag for internal use inside the robot.
In case of multi-row pick, it shows number of rows.
In case of multi-place, it shows number of picks.
Data 2
This enables setting of flag to be sent to PLC.
In case of multi-row pick, it shows end of row.
6-28
6.7. Editing Step position coordinate
Step position data can be edited. Edit them clicking on each position coordinate. You
can cancel by ESC key what you edited.
In all the coordinates at arm, hand, pallet or station, the numbers are shown in unit
of 0.1mm. So fraction number can be used in editing.

[Ref all copy]

Copy position data of all axes of reference program to that of program to edit.
[Ref surface copy]

Copy only planar position data of reference program to that of program to edit.
[Ref height copy]

Copy only height data of reference program to that of program to edit.
6-29
[OK]
[Cancel]
6.7.1. Pallet coordinates
This coordinate indicates the center of product from pallet origin point.
PY
Pallet
PX
Pallet origin point Opposite side of pallet origin point
6-30
6.7.2. Station coordinates
This coordinate indicates center of T-axis from center of station conveyor stopper.
SY
Stopper
SX
Flowing direction
Station conveyor
Station conveyor origin point
6.7.3. Arm coordinates
This coordinate indicates from position of point A to origin point of robot.
6.7.4. Hand coordinates
This coordinate indicates from center of T-axis to origin point of robot.
Important!
A 2 axis robot (A700II-P, A1600II-P, BltJr etc.) works at a
2-dimensional plane. For this reason, there is the following restriction.
(1) [Copy] Group Effective, only when edit programs are arm
coordinates.
(2) [Reference copy] group is effective only when an edit program and a
reference program are arm coordinates.
6-31
6.8. Auto Height calculation
This function is for recalculate the height (Z coordinate) of product from 2nd layer.
Select “Yes”, recalculate the height (Z coordinate) of product from 2nd layer.
Select “No”, does not recalculate the height (Z coordinate) of product from 2nd layer.
[OK]
[Cancel]
6-32
6.9. Extended axis position data
Position data of extended axis can be edited. Click on each item to edit them. You
can cancel by ESC key what you edited.
Step add :Add steps of C axis

Last step delete :Delete last step of C axis
Axis change :Change axis out of multi-extended axes
Row add :Add row of extended axis
Row delete :Delete the last row
OK :Make changes effective then close screen
Cancel :Make changes ineffective then close screen
Caution:
Step 1 – 3 are calculated by OXPA-QmV. Step. Step 1 is close position, 2 is

jog open and 3 is fully opened. See [Installation and Service manual
(Electrical) for detail.
6-33
7. Upload / Download
All files in projects and communication between OPXA-QmV and controller are
described.
For the very first time to communicate, make sure in advance if [Standard COM port]
on [Version info of OXPA-QmV] is NOT set to {PC alone} but the COM port is
connected with controller.
Click on title of main screen to open [Version info of OXPA-QmV].
Click on here
7-1
7.1. View / Refresh (PC)
Files in PC (laptop) are listed. Such files as system parameters, etc. are shown on
left column if available. Available stacking programs are shown.
7-2
7.2. View / Delete (Robot)
Stacking programs in controller are shown up on right column. But such system files
as system parameters are not shown. Stacking program can be deleted.
7-3
7.3. Download to robot
Files in PC (laptop) are listed on left column. Such system files as system parameters
will be displayed with the names if available.
Stacking programs and system files in PC (laptop) can be transferred to controller.
Note: Upload and download
Sequence comments can be also uploaded/downloaded together with

stacking program only when both [10.11.1. Transfer robot comment files] is
turned on and sequence comments are available.
7-4
Below message pops up when system parameters are downloaded. For fail-safe
measure, the default setting is such robot inherent data as [Origin offset] is OFF and
[Robot speed to change to [1] is ON. Double check if it is really OK before switching
over ON/OFF.
Yes : Overwrite system parameters

No : Don’t overwrite
All : Overwrite other files downloaded as well as system parameters
Cancel : Neither send it nor send any files to be downloaded
If any other system files than system parameters and stacking programs are in
controller, the below message pops up.

All : Overwrite other files downloaded as well as system parameters
Cancel : Neither send it nor send any files to be downloaded
7-5
7.4. Upload to PC
Files in controller are listed on right column. Such system files as system parameters
will be displayed with the names if available. Available stacking programs are shown.
Available system files and stacking programs can be transferred to PC (laptop) from
controller.
7-6
Below message pops up when system files and stacking programs are in PC (laptop).

All : Overwrite other files uploaded as well as system parameters
Cancel : Neither uploads it nor uploads any files to be uploaded
7.5. Verify PC - Robot
It verifies the files in PC (laptop) with that in controller. If all the same, “ ” is
marked. Or if not same, “ ” is marked in front of the names.
7-7
Comparison list can be shown having list on right side. If [Upload to PC] is chosen
first and then [PC-Robot verify] is chosen second. Both sides are listed.
7-8
8. Program utilities
[OXPA auxiliary function] is opened if [OXPA auxiliary function] is chosen on [OXPA

mode] screen. On the screen, to delete, copy or to backup whole stacking programs
can be done.
Click
8-1
8-2
8.1. Program delete
Choose from list Click

* Possible to
multiple choose
Delete procedure
(1) Choose [Delete program]. But [Delete program] is chosen by itself as a default
right after [OXPA- auxiliary function] screen is opened.
(2) Choose programs to delete.
(3) Click on [Delete] button.
(4) Press [Close] button to close [OXPA auxiliary function.
Caution:
When all the programs in PC (laptop) are deleted, choose all programs with
[All select] button and delete them with [Delete] button.
8-3
8.2. Program copy
Note:
When a program copied from other is used for actual stacking, mating with
the peripheral conveyor control may be failed from time to time. It is much
easier for you to create a new program not by copying other one but created
by [OXPA mode] screen.
Copy procedure
(1) Choose [Program copy].
(2) Choose programs to copy from list.
(3) Enter program No. in copy destination.
(4) Click on [Execute] button.
(5) When repeat, repeat (2) through (4).
(6) Press [Close] button to close [OXPA auxiliary function].
Caution
You cannot copy if some programs are in copy destination. The programs
need to be deleted or the other program No. is to be designated.
8-4
8.3. Back-up
Backup procedure
(1) Choose [Backup].
(2) Choose a drive at backup destination.
(3) Click on [Execute] button.
(4) [Complete] message pops up when backup is completed. Click on [OK].
(5) Press [Close] button to close [OXPA auxiliary function].
8-5
Caution
You cannot backup if already backup at the backup destination.
It is impossible to overwrite with the same project number.
You may need to delete the project No. in the backup destination, designate
other drive or use such other memory device as USB.
8-6
8.4. Global recalculate
Possible to choose [Global recalculate] when [OXPA auxiliary function] is chosen at

main screen.
OXPA recalculates stacking programs always based on the system parameters. A

stacking program is consisted of patterns throughout whole layers and program
parameters. Program parameter can be chosen out of the program or other program.
In case of [Single recalculate], the program uses its own. In case of [Recalculate all
by its program], you need to enter [Program No.].
8-7
Click on [Scan] button after you enter [Program No.]. OXPA scans programs of the
same conditions.
The scanning conditions: Station No.

Pallet No.
Type of product is [Case-pal], [Bag-pal] or [De-pal].
Programs of the same conditions as its program
8-8
[Kept data]
Pattern structure: Pattern structure is kept. Position data in the
program for recalculation won’t be changed even if changed.
Pattern in which load shape is adjusted to pallet edge will be
back to the previous situation.
Stacking positions: Stacking positions are decided by both load shape created
with pattern structure and fine-tuning at magnified display
screen.
8.5. Simulation of “Robot capacity”
[Capacity calculation] can be done when [OXPA auxiliary function] at main screen is
chosen.
OXPA-QmV simulates robot sequence commands and calculates capacity (robot
stacking speed).
8-9
8.5.1. Arm position control
The time of the robot arm moving from “MOV” through “WTARM”
OXPA-QmV simulates how long it takes, from the start position to the target position,
with “Acceleration coefficient”, “Deceleration coefficient”, “Overlap” and “CP/PTP” of
the “Step parameters”. The simulation is carried out pallet to pallet. If step 2 does
not exist or is not processed, OXPA-QmV discontinues the simulation and ends with
error message.
The following robot sequence commands equalize “MOV” in the calculation.

SMOV and SMOV2
If the following robot sequence commands exist, OXPA-QmV does not know the
target position. OXPA-QmV discontinues the simulation and ends with error message.
MVDWN, MOVDM and/or MVPOS
8.5.2. Wait state
The following robot sequence commands count waiting time. If these exist between
“MOV” and “WTARM”, OXPA-QmＶ takes the waiting time or moving time whichever
happens longer.
WTTMR and WTMSP
“BMETM” is counted only when the amount or moving time whichever happens
longer.
The following robot sequence commands do not count.

AMSPS, AMSSC, BMEPS, WTAPC, WTCON and WTHND
The relay turns neither ON nor OFF “WTCON”.
8-10
8.5.3. Substitution
OXPA-QmＶ simulates Relay Substitution for relay and/or DM. The relay and/or DM is
zero at the time of that begins to be simulated.
8.5.4. System control
“COUNT” counts up next product(D1), or next layer(D0) and next product(D1).

If “COUNT” does not exist or is not processed, OXPA-QmV discontinues the
simulation and ends with error message.
“ENCHK” checks if one pallet stacking is completed.
The following robot sequence commands are discarded.

CALC, NOP, OFST and SETER
8.5.5. Data access

“RDPZ” reads from step’s height and stores to the DM.

RDCP, RDCZ, RDPOS and RDSPD
8-11
8.5.6. Program branch
OXPA-QmＶ continues simulation “JMPL” jump to target “LBL”, “JTOP” and “ENDP”
return to beginning of robot sequence program.

PGSEL and JMPP
8.5.7. Condition and loop branch
OXPA-QmV decides the next process with the true or false of “IF” and/or “LOOP”. The
relay and/or DM are cleared to zero when simulation starts. D0 and D1 are counted
by “COUNT”.
8.5.8. Other commands
OXPA-QmV discards other commands.
8-12
8.5.9. Parameters of “Capacity calculation”
OXPA-QmV has the following parameters.
8.5.9.1. Open
In case products are “BAG”, OXPA-QmV needs the time of “WTCON” to be entered by
you.
(Maximum 20000msec)
In case products are “CASE”, OXPA-QmV can simply execute “WTTMR” whatever
“Open” is.
Side vacuum type
In case E.E. type is as below, time of E.E. opening needs to be added to “Close” for
compensation.
Finger type Vacuum type
8.5.9.2. Close
OXPA-QmV needs the time of “WTCON” to be entered by you.
(Maximum 20000msec)
8.5.9.3. Discharge
OXPA-QmV needs the time of pallet discharge to be entered by you.
(Maximum 60000msec)
8-13
9. Print parameters
[Print-File output] screen shows up, clicking on [Print] button at main screen.
Clicking on [Reset] button allows it to adjust to proper printing location.

Font type for printing are JIS=MS MINCHO 36pt, and English=Courier New 32pt.
In stacking program printing and/or file output, such items as program parameters,
sequence program, step parameter4s, step auxiliary data, step data can be chosen
respectively. Number of lines, height of line and comment location of sequence
program in printing can be specified.
Clicking on “Print out” allows printer to output to the default one. Clicking on “File
output” allows printer to output file of [Print.txt] into project folder.
9-1
10. Default settings
In [OXPA Use Condition] setting, a correct password needs to be entered in order to

protect the important default setting data.
Clicking on [OXPA Use Condition] button at main screen allows it to open

[OXPA-QmV default settings (default. communication)] screen.
10-1
10.1. Stopper direction
The stopper direction “combo box” is changed by the programmer when they need to
program at the robot and would like to view the patterns relative to the way their
laptop screen is positioned relative to the robot. When the programmer is standing at
the laptop screen, the pallet conveyor pallet stop can be referenced their left, right,
up (front) or down (rear).
When the stopper direction is set correctly, the pattern displayed on the screen and
the actual pattern viewed on the pallet will match. The correct view helps reduce
programming mistakes during pattern creation.
10.2. Product size
Enter the maximum and minimum Length, Width and Height for the product.
Setting the product size and load size as large as possible will allow the most
flexibility in pattern generation.
10-2
10.3. Maximum load size
Enter the maximum load width at the “Front view” field, when viewing the stack from
the pallet stop.
ENter the maximum load width at the “Right side view” field, when viewing the stack
from the right side of pallet stop.
If there is a load size limit including pallet height, enter max load size including pallet
height into [Height including pallet] box. If there is no such limit, enter [0].
10.4. Overhang ratio
The overhang ratio numbers determine the amount of acceptable distance that a
product is allowed to overhang the edge of the pallet without being unstable.
For big box: the number represents the fraction that the box can overhang. For
example, if the value is 3, then 1/3 of the box is allowed to overhang the pallet.
For small box: the number represents the fraction that the box can overhang. For
example, if the value is 6, then 1/6 of the box is allowed to overhang the pallet.
The big and small limit determines the size which a box is small or big. If the value is
400mm, then any product larger than 400mm will be classified as big.
10-3
When smaller dimension from product length and width is more then the
determination length of small or large, use overhang ratio. Following
example is for small product overhang ratio. Smaller dimension from
product length and width divided value call “Product overhang ratio.”
For example: Use following situation for overhang
Maximum loaded length from pallet stopper with front direction. 1600
Maximum loaded length from pallet stopper with side direction. 1400
Pallet origin point L Side
Pallet length 1200
Pallet width 1100
OHL1 150
OHL2 150
OHW 150
Large product overhang 3
Small product overhang 6
Length of determining small or large 500
Product length 640
Product width 480
Compare the product length and width, smaller one is 480mm. It is smaller
than the length of determining small or large. Use smaller product overhang
ratio of determining overhang. This value is “80.”
480 ÷ 6 =80
Next, compare the pallet overhang and value “80” which we found in above
formula, “80” is most smallest value. It means overhang for this product is
product overhang, not pallet overhang. Add “80”mm to pallet dimension.
1200+80×2=1360
1100+80×2=1260
These values are inside of the maximum product dimension and it is OK.
Therefore range for creating stacking pattern is as followings.
Pallet L side = 1360

Pallet W side = 1260
10-4
10.5. Variable height setting
Actual Height” of “Create / modify stacking program” screen was limited within the
range from -20% to +20% of original height calculated by “No. of layer” and
“Product height”. When you entered the “Actual Height” out of the limit, OXPA-QmV
popped up the following alert (Fig.2), and canceled your entered value.
Fig.1
It is limited
Limited range
1000 x 0.8 = 800
1000 x 1.2 = 1200
Fig.2
10-5
It has been improved that you can change the limited range up to until +/-70%.
+/-20% +/-70%
Original
Height
Fig.3
Before After
From -20% to +20%. From -70% to +70%.
Procedure of the changing the limited range.
1. Open “Default value editing” screen.

2. Check ON “Variable” of “Actual height limit”.
3. Choose the limited range you want clicking on pull down for “Lower” and/or
“Upper”.
10-6
When “Variable” of “Actual height limit” is OFF, the limited range are back to default
(From -20% to +20%).
Fig.4
Check it ON.
And, change the
limited percentage.
10-7
In the above example, “Lower” is -50%, and “Upper” is +30%. If you enter wrong
height at Fig.1 the following alert pops up (Fig.5), re-enter correct one.
Limited range
1000 x 0.5 = 500
1000 x 1.3 = 1300
Fig.5
10.6. Approach (For special uses)
This value can be set to change the approach of the top layer differently than the
other layers. This will prevent the robot from going out of range at the top of the
envelope. If set to “0” the top layer will have approaches equal to the other layer.
“Auto stack sequence” must be set to “Manual” if multi-pick is being used.
10.7. Overlap ratio (Bags)

It overlaps, and it is possible to overlap when suiting it outside of the pallet with how
much and it enters it with the %. Please decide it referring to the following content.
W size
L Size
% of a overlap is explained to an example for the upper conveyance thing.
10-8
L-L
% : partial / L size x 100 overlapping
L size
L-W W size
L size becomes a standard when
L size is smaller than W size.
% : partial / min(L,W) x 100 overlapping
W-W
W size
% : partial / W size x 100 overlapping
10.8. E.E. change threshold
Set the maximum product length for pick up by small hand. Small hand is “E.E. 1”
and large hand is “E.E. 2.” When this selection field is “0”, hand does not exchange.
10.9. Maintenance check cycle

The motor power on time, every passes cycle,
message is indicated in touch panel of the robot controller.
10-9
10.10. Auto stack sequence
When a new stacking program is created at [OXPA mode], the default is set to which
stacking order is used, auto or manual. If auto, bag-drop high is also auto set.
10.11. Check boxes
10.11.1. Transfer robot comment files
Sequence comments can be uploaded/downloaded together with stacking programs.

This is to be turned on when sequence comments are uploaded/downloaded. Turn it
off if not needed.
Caution
The total volume of stacking programs along with sequence comments are
increased by about 30%. So, the max number of programs stored is
decreased by the same % accordingly.
10.11.2. 2 stations to 1 pallet
In the program of from-two-station-to-one-pallet palletizing, you turn it ON to

automatically make the position data of the 2nd station. The sequence program and
step commands in the standard program need to support palletizing of
from-two-station-to-one-pallet. Turn it OFF when unnecessary.
10.11.3. Calculate on the soft limit
When the robot moves from step 5 to step 7, T-axis may spin nearly 360 degrees. If
you check it ON, the position data of T-axis is created in order to prevent the
aforementioned spinning. The position data re-created is compared with that of
checked it off. Then position data at higher capacity is selected. This works neither
for " Multi-place" nor "De-palletizing". This can't be used together with "Pick both 1st
and 2nd station".
10-10
10.11.3.1. Prevent T-axis from unwanted spinning
OXPA-QmV can prevent T-axis from the following three unwanted spinning at MOV
5-7, 4-5 and/or 8-9.
Check on:
The calculation is changed to soft limit
based form 180 degrees fixed.
The default value is set to OFF for the
existing 180 degrees fixed.
10-11
10.11.3.2. Soft limit of T-axis
T-axis can spin as follows.
Purple line;
Blue line; T-axis origin point
T-axis spinning
Red line;
AT(+) side.
T-axis
spinning
T-axis soft
limit
T-axis soft
limit
-220 +220
Ex. T-axis can spin between -220 and 220 degrees at maximum.
T-axis never ever spins beyond the soft limits which are adjustable.
As the robot controlling basic logic, T-axis spins taking short cut direction. If it moves
to -179 of target position from 179 of current position, it spins to 181. Refer to the
robot manual “Installation and Adjustment”.
10-12
10.11.3.3. Case of moving P-5-7
Ex. T-axis values are

P (Pick-up position) -60
5 (Step 5) +150
7 (Step 7) +130
Red line describes the case at the check box OFF. Spinning P to 5 CW is shorter
direction than CCW. T-axis spins -60 to -210, as spinning -60 to +150 is longer.
To go to 7 from 5, not-shorter direction CCW is to be chosen as T-axis can not spin

-210 to -230 because of the soft limit.
T-axis never ever spins beyond the soft limit -220.
Then, T-axis eventually spins unwontedly, like T-axis to spin -210 to +130.
When the check box is ON, T-axis spins CCW -60 to +130 along blue line to prevent
from unwanted spinning as a result of the OXPA-QmV logic improvement.
First, OXPA-QmV changes the robot controlling basic logic.

Second, T-axis spins from 5 (+150) to 7 (+130).
10-13
10.11.3.4. Case of moving X-4-5

X (Origin point) 0
4 (Step 4) +160
5 (Step 5) -120
Red line describes the case at check box OFF. Spinning X to 5 CCW is shorter
direction than CW. So, T-axis spins 0 to +160.
To go to 5 from 4 as not-shorter direction CW is to be chosen as T-axis can not spin

+160 to +240 because of the soft limit.
T-axis never ever spins beyond the soft limit +220.
Then, T-axis eventually spins unwontedly, like T-axis to spin +160 to -120.
When the check box is ON, T-axis spins CW 0 to -200 along blue line to prevent from
unwanted spinning, as result of the OXPA-QmV logic improvement.
First, OXPA-QmV changes the robot controlling basic logic.

Second, T-axis spins from 4 (-200) to 5 (-120).
10-14
10.11.3.5. Case of moving 8-11-9 along inclined motion

8 (Step 8) -120
11 (Step 11) Intermediate point +20 -160
9 (Step 9) +160 -200
When the check box is OFF, T-axis is calculated based on 180 degrees fixed.
OXPA-QmV calculates the intermediate point as follows.
Ex. (-120 + 160) / 2 = +20.
It spins 8 to 11 CCW and then 11 to 9 CCW, as the red line shows. Then, T-axis
eventually spins unwontedly from 8 (-120) to 9 (+160).
When the check box is ON, T-axis is calculated based on the soft limits.
OXPA-QmV calculates the intermediate point as follows.
Ex. (-120 + -200) / 2 = -160.
Then, T-axis spins CW along the blue line to prevent from unwanted spinning
from 8 (-120) to 9 (-200).
10-15
10.11.4. Align by palm (Fork only)
When the “Align by palm (Fork only)” is checked ON, you can use the “Aligned
distance” of the “End-effector and station-conveyor parameters” screen.
10.11.5. Rotate bags in ‘Magni view’
This is to be turned ON when bags are fine-rotated in adjustment on Magni view.

See [4.8.3. Magnification of indication] for how to fine-adjust.
10.11.6. Sheet DM only positive value
You can treat the sheet DM as a positive value.
“Sheet DM only positive value” check box’s default is OFF.

If you want to set positive value to DM, You turn it ON.
“Sheet DM only positive value”

ON Sheet DM values are between 0 and 32767.
You can check from “On the pallet” to “On the 29th”.
OFF Between -32768 and 32767
You can check from “On the pallet” to “On the 31st”.
10-16
10.11.7. Use ‘Lock with internal key’
To protect the controller’s files from overwriting by mistakes, check it ON and then
you can lock with internal key.
10.11.7.1. After locked
When already locked, check box is disabled.
10-17
OXPA can detect the difference of the internal keys between Laptop and controller.
If the internal keys are differed, the below error massage pops up.
You can not try to download wrong data files.

If the internal keys are matched, you can download.
Moreover, the below error message pops up to stop downloading when tried to
transfer to controller from a project on which [Protect system-parameter of robot by
internal key] is set to OFF.
10.11.7.2. Procedure for unlock
Caution
Such data as system parameters, servo parameters, stacking programs and
OXPA-PLCV are cleared so that do backup first following the below
procedure 1 and recover following the below procedure 6.
1. Upload all the files in robot controller to back them up.

2. Change robot type to other type on POD.
3. Cycle power at robot controller.
4. Change robot type back to originally type on POD.
5. Cycle power at robot controller.
6. Download all the files back to robot controller.
10-18
10.11.8. Set COM Port Exclusive For Order Project
Checking box [Use COM Port limited to project] ON allows it to setup a separate COM
port exclusively used for project other than standard use.
10-19
10.12. Comment file for robot sequence
Clicking on “Designate” button at bottom right of “Default settings” screen allows

you to designate a comment file for robot sequence.
10-20
Click on “OK” to open the next “Designate the comment file for sequence program”.
Click on “Open” after comment file chosen.
This function is setting the store allocation for sequence program.

1. Select the command from menu bar-[Utilities]-[Comment designate]. Just after
the crate robot program, comment file allocation does not set.
2. Comment file allocation screen displayed.
3. Enter the file allocation into “File allocation” field and file name into “File name”
field.
When comment for sequence file is setup, you can display or printout the sequence
program’s data memory and rely with comment at section 4.2.3. [Editing Program
parameter] and section 7.2.4. [Print out].
If command for sequence file does not setup you can not add the comment into
sequence program’s data memory and relay.
Make the Comment for sequence file for each Robot.
Comment file for sequence file saved as [Project.cmt] and different folder from
OXPA-QmV.
10-21
The files designated are displayed on screen.
10-22
10.13. Master password
Whole project is protected by [Master password]. The default is “Need (Customer)”.
Choosing “Not protected” allows OXPA to not confirm any password. All functions can
be used. Therefore, it is strongly recommended that you choose “Protected” to
protect the important configuration data when you as a service technician leave
customer site after installation is completed.
10-23
11. Parameter setting
A correct password needs to be entered to protect important configuration data at

[Station & end effector registration].
Clicking on “EE & Conv. parameters” button at main screen allows you to open “End
effector and station conveyor parameters” screen.
11.1. Station parameters
Register stations. Choose [Station type]. The type of station chosen is displayed at
right side. Pressing the arrow marks at the top left corner allows you to choose the
direction of view.
11-1
11.1.1. Station type
Choose either one out of [Belt], [Roller] or [Fixed pick position].
Figure: Belt
Figure: Roller
Figure: Fixed pick position
(All center)
11-2
End-effector (For double E.E.)
Product Product
Station
(For double E.E.)
(Typical)
11-3
11.1.2. Palm direction above conveyor
<Left side, Right side>

This is direction of gripping at station. The view direction is along flow line of product
from upper conveyors.
The palm of EE located at either left side or right side to be set.
<Auto>
Which case is higher robot speed, left-side or right side is automatically chosen
depending on the required rotation angles of T-axis.
Auxiliary palm:
If the end-effector has a side vacuum or fingers etc., the palm in the side which
moves is called the auxiliary palm. Normally, the right palm becomes the auxiliary
palm.
If the “Synchronized palm” is set to “YES” in “Hand (end effector) dialog box, the
descent position above the station (Step 2) and the pick-up position above the
station (Step 3) are generated at the same position.
If the “Synchronized palm” is set to “NO”, Step 3 is generated at the position where
the hand (end effector) has closed. At this time, calculation is conducted taking the
right palm is the moving side and the left palm as the fixed side.
Note
Auxiliary palm: Palm with vacuum or finger or moving palm calls Auxiliary
palm or support palm.
Right palm: When robot is the home position and looking from behind of the
robot, right side the palm calls “Right palm” and left side palm calls “left
palm.”
11-4
11.1.3. First roller:
Roller type requires the entering of roller information which allows OXPA-QmV to
program for fingers.
11.1.4. Roller pitch:
This is used when the station conveyor type is roller. This is the distance between the
rollers. The distance is assumed to be typical along all of the rollers.
11.1.5. Picking Fixed Distance
This is used for fixed position type of station. Distance between origin of station and
center of end effector is entered over here. Zero is to be entered to the picking fixed
distance in case product center is always required at the same as end effector center
whatever the product’s shape changes like bags. Distance between EE center and
origin of station is to be entered when vacuum end effector picks one product up to
multiple ones at the exact same position.
11.1.6. Minimum gap
This is used to prevent the hand (end effector) colliding to fixed stop on the end of
conveyor. Enter the minimum distance between edge of the palm and fixed stop on
the end of conveyor to this field. Setting value is from 1mm to 999mm. When you
enter “0” minimum gap will be 20mm. Because old version of robot controller setting
the 20mm when OXPA-QmV minimum gap is “0.”
11-5
11.1.7. Gap of prd on sta
The crevice is entered, when leaving a crevice and holding two conveyance things on
a station.
Note:
Please the following station information must make the type in "Fixed type
(For double E.E.)".
Hand
Product Product
Station

Gap of prd on sta
11.1.8. Turn direction
If a turning device is used to rotate each product 90 degrees on the station conveyor,
the station conveyor, the “Turn direction” field is used. Select if the product will be
turned clockwise or counter-clockwise.
11.1.9. Side label dir above conveyor
This is set only when the "2 stations to 1 pallet" is ON. Along the flow direction of the
products, side label direction is set to "right side" or "left side". If there are side
labels at both sides, major side is recommenced to use.
11-6
11.2. End-effector parameters
Register end effector. Choose [EE type]. Type of EE chosen is displayed at right side.
Pressing the arrow marks at the top left corner allows you to choose the direction of
view.
11.2.1. E.E. type
Type designates the hand (end effector) type that is being used. Each type of hand
(end effector), carton box, bag or vacuum requires distinct information so that the
calculations of the pick and set down are correct. Different hands (end effector) are
used for different stacking situations and the positions of the products differ on how
they actually positioned relative to the robot.
The carton box hand (end effector) clamps the product between two paddles. The
carton box hand (end effector) regularly uses vacuum assist to give additional
support to the product.
The bag hand (end effector) is the hand (end effector) that has two claw type
mechanisms that fit between conveyor rollers and close beneath the bag.
The vacuum hand (end effector) is the hand (end effector) that has a single
horizontal surface with multiple vacuum cups.
11-7
11.2.2. Finger (with/without)
Some carton box hand (end effector) use forks that go between the rolls on the case
conveyor like the bag hand (end effector). Selected whether or not, there are fingers
on the hand (end effector).
11.2.3. Synchronized palm
When a hand (end effector) opens and closes the palms are either synchronized
(move symmetrically and together) or none synchronized (where is only single palm,
only one of the palms move or move asymmetrically). If the left and right palms
move by the same distance when the hand opens and closes, set “Synchronized
palm” to “YES.” If a palm on one side is fixed, set “Synchronized palm” to “NO.”
When “Synchronized palm” is set to “NO”, the right palm is assumed to be the
auxiliary palm. Steps 2 and 3 are automatically generated.
Note
Auxiliary palm: Palm with vacuum or finger or moving palm calls Auxiliary
palm or support palm.
Right palm: When robot is the home position and looking from behind of the
robot, right side the palm calls “Right palm” and left side palm calls “left
palm.”
11.2.4. Auxiliary palm
The auxiliary palm is aligned with one side of the station conveyor during pick up.
With fixed pick up, the auxiliary palm will be aligned with the side of the station as
selected in this field.
The right side of the station is referenced as if the programmer were sitting on the
product as it contacted the product stop. The station conveyor right would be the
programmer’s right. The station conveyor left would be the programmer’s left.
11-8
11.2.5. Collide chck (pos)
“Need”: OXPA-QmV checks whether the end-effector collides with the already
stacked products on the pallet at “Stacking sequence modification” screen.
“No need”: OXPA-QmV does not check at all.
Collided Endeffector : Yellow
Already stacked Just set down
Fig. The end-effector is longer than the product.
The stacking sequence shown above is rejected with bellow message.

In case of “Drop”, OXPA-QmV does not check.
Collided Endeffector : Yellow
Fig. The end effector with side appliance.

In case of “Drop”, OXPA-QmV does not check.
11-9
11.2.6. Collide check (Apr)
“Need”: OXPA-QmV checks whether the end effector and/or products of all the
approach direction collides with the already stacked products on the pallet at
“Stacking sequence modification” screen.
“No need”: OXPA-QmV does not check.
Collided During approaching
Fig. The products is on the adjunct appliance side

If the end-effector type is “For Bag”, OXPA-QmV does not check.
11-10
11.2.7. Auto-adjust (Cnv)
“Need”: OXPA-QmV checks whether the end effector collides with the station stopper
and the rollers. If the end effector collides, OXPA-QmV auto-adjusts the pick-up
position.
“No need”: OXPA-QmV does not auto-adjust the pick-up position.
Endeffector : Yellow
Finger : Green
Auto-adjust
Roller : Gray
Station stopper : Orange red
Fig. Auto-adjustment with the station stopper and the rollers
If considered to be interfered, it automatically moves back. No error message shows

up.
11.2.8. To overlap
You can stack various products such as bundles. When “To overlap” is checked ON,
you can overlap the products. Default is OFF, and you can check it ON. If E.E. type is
“Bag”, this is fixed to ON automatically.
11.2.9. To drop
You can stack various products such as bundles. When “To drop” is checked ON, you
can drop the products. Default is OFF, and you can check it ON. If E.E. type is “Bag”,
this is fixed to ON automatically.
11-11
11.2.10. Product Gap:
Product gap is the distance between products that is to be maintained during pattern
generation. This is similar to palm gap, however; product gap is used where products
are spaced greater than the palm thickness to allow for cooling, or product specific
reasons. This parameter uses the same value in all end effector.
11.2.11. End-effector weight
Enter the hand weight only. This value used for acceleration and deceleration
calculation. This parameter uses the same value in all end effector.
11.2.12. Attachment angle
When hand (end effector) are attached to the end of robot arm at the other than
90-degee increments, an attachment angle is used to correctly set the hand (end
effector) orientation.
Attach the hand (end effector) when T-axis is “0” degree in Arm coordinate. Then
attach the hand with right palm is right side of robot. Enter the value of attachment
angel (To the left is plus “+”, to the left is minus “-“).
11.2.13. Aligned distance
To align the products with palm, you can enter the distance where the robot arm
moves.
11-12
11.2.14. Longest radius
Enter max radius between point A and any EE devices.
Enter the longest radius of end-effector.
11-13
11.2.15. Length
For clamp style (carton box) hands (end effectors) set length to the widest
paddle/palm length. For finger style (bag or fork) hand (end effectors) set the length
to the finger mounting frame length. For vacuum style hand (end effector) set the
length to vacuum cup diameter or flame length for vacuum attachment.
11.2.16. Opened width:
This dimension is used to verify that the product is not too large during pattern
creation. Set the dimension between paddles/palms when they are fully spread open.
You can set this only for carton box product.
11.2.17. Closed width:
This dimension is used to verify that a product is not too small during pattern
creation. Set the dimension between paddles/palm when the paddles are closed. You
can set this only for carton box product.
11.2.18. T offset (C)
On synchronized palms “C” is the distance from the center of the hand (end effector)
mounting flange holes to the center of the palms.
On non synchronized palms “C” is the distance from the center of the hand (end
effector) mounting flange to the fixed paddle.
11.2.19. T offset (D)
The hand (end effector) generally does not close in this direction. In most cases “D”
is the distance from the center of the hand (end effector) mounting flange holes to
the actual center of the hand (end effector) relative to how it needs to center over
product.
11-14
11.2.20. First finger:
To calculate the position of the fingers, OXPA-QmV needs a position of the fingers
relative to the length of the paddle. The first finger distance is measured from the
end of the paddle or finger mount (front of the hand (end effector) to the center of
the first finger.
11.2.21. Height
For a hand (end effector) without fingers, set the height to the distance from the
hand (end effector) mounting flange surface to the tip of the palm or bottom of
vacuum cup. For a hand (end effector) with fingers, set the height to the distance
from the hand (end effector) mounting flange surface to the top of the fingers when
closed.
11.2.22. Frame depth:
For carton box and bag hand (end effector) the frame depth is used in calculation to
prevent the hand (end effector) form interfering with the product when it is
straddling it during pick up. The distance is measured form the hand (end effector)
mounting flange surface to the bottom of cylinders or brackets which would interfere
with the paddle or fingers from closing on the product. For bag hand (end effector)
does not have this function. For vacuum hand (end effector) enter hand height.
For vacuum hand (end effector) the frame depth is used in calculations to account
for the collapse of vacuum cups. The frame depth is the distance from the hand (end
effector) mounting flange surface to the bottom of vacuum cups when the hand (end
effector) is under vacuum holding onto product.
If you are using a carton box type hand (end effector) with paddle and height of the
paddle is relatively short, you may have to adjust the pick-up position height
because of the tolerances that are build into the OXPA-QmV calculation (depending
on the height of the handle article).
The distance required to avoid interference between the hand (end effector) and the
product during pick up is automatically added to the pick-up height at the station.
11-15
11.2.23. Palm/CV- top gap:
This is used to determine the minimum value for palm clearance to the station
conveyor. For a hand (end effector) with no fingers, set the distance to the value
needed between the station conveyor top surface and the bottom edge of the palm
when the hand (end effector) grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, set the distance to the value needed between
the station conveyor top surface and the top of the fingers (when fingers are closed).
Normally the set value is signed +/-, plus for a hand (end effectors) without fingers
and minus for a hand (end effector) with fingers.
The distance typically used with bag hands (end effectors) is -10mm.
11.2.24. Palm/Pallet gap:
This is used to determine the minimum value for palm clearance to the pallet. For a
hand (end effector) with no fingers, set the distance to the value needed between
the pallet top surface and the bottom edge of the palm when the hand (end effector)
grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, set the distance to the value needed between
the pallet top surface and the top of the fingers (when fingers are closed).
The distance typically used with bag hand (end effector) is +40mm.
11.2.25. Interference gap:
Normally, most palletizing requires no gap between products. When the clamp style
hand (end effector) is used, the smooth paddle (around 6mm thick) is required to
stay between carton boxes leaving a normal gap. If this gap is required to be large
due to a thick paddle, the OXPA-QmV calculations must take it into consideration.
Enter the more than the thickness of palm for Carton box hand (end effector). For
Bag hand it able to enter “0” because bag hand (end effector) is able to drop from
above.
11.2.26. Pad to prd-edge
Possible to enter only for Depal EE. Enter distance between EE center and edge of
product.
11-16
11.2.27. Fork type E.E. parameters
OXPA-QmV calculates Step2 position from the “Distance between E.E. center and the
station conveyor position”.Step2 position is always fixed from the station conveyor
position.
Step3 positions is calculated from Step2 and new parameter.
E.E Center
Prds
Distance between Fix Plate and E.E. Center (J)
- <-> +
Distance between E.E. Center and the station conveyor position (L)
11-17
Action of Fork type E.E.
The red chain lines are represented the station conveyor position.
(1) Step 2 (Fixed position always). The Guide is “Center”.
Small Large
pickup conveyor pickup conveyor
(2) Step3 (These differ to each product’s width). The Guide is “Center”.
Move Robot Move Robot
Small Large
Move Fork Move Fork
(3) Unload the Products at Step7 (Regardless of the guide)
Small Large
Pallet Pallet
11-18
12. Station & Pallet setup
A correct password is to be entered to protect important configuration data at

[Station location & pallet setup].
Click on [Conveyor position, pallet] button at main screen to open [Station & pallet
setup] screen.
12.1. Station conveyor position
12.1.1. Registering station origin point
OXPA-QmV uses a single point on the station conveyor to help calculate step 2 which
is key value in determine the remaining steps. This point gives us the station origin.
Simply put, the position set for each station is the point on the conveyor where the
top of the roller plane intersects the point at the bottom, center of the fixed stop.
12-1
1. Intersect point of HX and HY:
The position of the station is referenced in “Hand coordinates.” This allows the
installer to measure directly form the center of the robot in Hx and Hy directions and
from the floor with reference to the robot base casting for the Hz direction.
2. Station conveyor direction:

In order for OXPA-QmV to understand if the product is traveling from the robot’s left
to right and contacting the fixed stop or traveling from the robot’s right to left and
contacting the fixed stop the station angle(Hα) is also critical to correct positioning.
3. The station angle (Ht also referred to as Hα) is determined by the combination of
the product travel direction and the + direction of the robot’s Hx-axis. The set the
station angle to clockwise (with minus) or counter-clockwise (with plus).
Note
Unused station conveyors can not select or register the origin point.
Note
12-2
12.1.2. One side basis (guide)
You can select the products flow center of the station conveyor or flow one side of
the conveyor. For example, if there is a pusher that registers the entire product
against a guide on the right then the right should be selected. Left or Right is
viewing from as flowing direction (Fixed stop on the end of conveyor is top).
Station width:
When you select the left or right in the guide field, enter the conveyor width to
“width” field.
Selection contents for “guide” Input value of “Width” field Guide =Right
funtion
Fixed stopper Right

corner
Left Center Right
corner corner
Station Product
conveyor
origin point
Input double width for “width” field.

Flowing Station width will be “0” if guide is
direction of station origin point.
product
Flowing
direction of
product
12.1.3. Registering pallet origin point
The pallet conveyor position is made up of two points on the pallet which help
determine the stacking location for the products being palletized. These two points
determine the pallet origin and give us the pallet coordinates used during
programming. The other part of the calculation is the pallet parameter (size) which is
discussed later. The two points making up the pallet origin can be the canter, left, or
right of the pallet. The decision of teaching the center, right, or left is called teaching
point-referred to below.
Enter the Hand coordinate of pallet origin point and opposite of pallet origin point in
HX, HY and HZ. The position of the pallet is referenced in “Hand coordinates.” This
allows the installer to measure directly from the center of the robot in HX and HY
directions and from the floor with reference to the robot base casting for the Hz
direction.
12-3
Pallet Terminology:
The front and rear positions of the pallet are used to define the pallet coordinate
origin. The pallet has a front, back, left and right. Generally, the pallet is positioned
by the conveyor until the pallet contacts a fixed or pop up stop. The pallet edge that
contacts the stop is routinely designated as the front. OXPA-QmV references this
edge when palletizing. The remaining side of the pallet is referenced from the front.
If you are on the pallet facing the front the rear is behind you, the left is your left,
and the right is your right.
Teaching position:
The teaching position determines the pallet origin on the center, left or right of the
pallet referenced to the front of the pallet.
When using multiple types (sizes) of pallets on the same pallet conveyor, select a
teaching point (pallet origin) that will remain constant between the pallets ranges
used. For example, if the pallets used do not change in width, then the pallet center
does not change and the center should be taught as the pallet origin. If there is a
pallet pusher that registers all of the pallets against a guide on the right then the
right should be taught as the pallet origin.
Pallet width orientation:

When pallet parameters (pallet size) are defined, one side is registered as the width
(PW). PW is always referenced to the front of the pallet. In the “Pallet width
orientation” (Formerly “Approach for fork lift”) field, the pattern selection will depend
upon which side of the pallet side of the pallet is contacting the pallet stop (i.e. is the
pallet wide way or narrow way leading).
12-4
12.1.4. Extreme distance away from ‘Conv pos’
Open the “Station & pallet setup” screen.
Enter the extreme distance along ‘Flow/Side dir’

including attached devices away from ‘Conv pos’.
Station conveyor
Attached devices
Flow dir
Conveyor Position
Side dir
12-5
12.1.5. Distance ‘Plt edge’ to attached equipment
Open the “Station & pallet setup” screen.
Enter the extreme distance along ‘Flow/Side dir’

including attached devices away from ‘Plt edge’.
Pallet edge
Attached devices
Pallet
Flow dir
Side dir
12-6
12.1.6. Qty Plt on floor
Number of maximum pallets when pallet is piled to floor. This value is not used when
not is accumulation. It depends whether pile it on the reference program.
Refer to the "Robot Manual - Teaching" concerning the "Pallet floor placement".
12.1.7. Lifter setting
When palletizing directly on a pallet that is supported by a powered lift, the pallet
will be lowered after stacking a specific amount of layers. The “distance for fall” is
the amount the lift will lower. When not using a lift, set the “distance for fall” value to
zero (0)
Lifter descending layer (base lay for fall)

When the “distance for fall” above is not set to (0) the robot first stacks the amount
of layers set in “base lay for fall” from the coordinates generated by the pallet and
station conveyors (as usual). After stacking the base layers, the robot stacks the
following layers of product at a height equal to the original stack height minus the
“distance for fall” set above.
12.2. Pallet parameters
Enter number of 1 through 15 to [Pallet type] box. Enter pallet size next. PL
represents depth and PW represents width of pallet viewed from fork truck
approaching direction. Enter overhang values. The overhang at both sides of PW is to
OHW, fork truck side is to OHL2 and the opposite side is to OHL1. Press [Register]
button after entered.
12-7
12.2.1. Pallet list
Possible to view the registered pallets at [View list]. Default pallet for daily use can
be designated on the list of [Standard pallets].
12-8
13. Create custom pattern
On [Create Custom Pattern], the exact password has to be set to protect the data of
the inherent patterns.
Clicking on the button of [Create Custom Pattern] at main screen allows you to open
the screen.
Or on [Custom Pattern Selection], clicking on [Pattern add] at [Pattern selection]

allows you to open the same screen. However, you cannot edit the patterns on this
screen.
13.1. Create Custom Pattern
For how to create a custom pattern, let’s have a example of 19 products in total
which consists of four 4-wheel-patterns and three more products.
13.1.1. Create sample pattern
The same below screen shows up as well when [Pattern add] at [Custom pattern
selection] is clicked on.
The screen is divided into such four areas and named Chartreuse area (A), Cyan grid
area (B) , Top area (C) and Bottom area (D). Those are respectively explained in
detail.
Top area (C)
Chartreuse area (A)
Bottom area (D)
Cyan grid area (B)
13-1
13.1.2. Create Odd layer pattern
1. Drag & drop and lay using a mouse a product to cyan-grid area (B) from
chartreuse area (A). The product is surrounded by a red doublet when laid.
2. Drag & drop and lay second and third products in other direction. All the three
products are surrounded by a red doublet which represents a external line of the
pattern you are working on.
13-2
3. Create two 4-produt-wheel patterns next each other in the same manner as
done at the previous 1 and 2.
4. Lay three products other than 4-wheel patterns in the same manner as done at
the previous 1 and 2.
13-3
5. Lay the remained two 4-wheel patterns in the same manner as No.1 and 2.
6. The pattern you have created is located a bit offset left in the cyan grid area
(See the above cyan painting palette). If you want, pressing [Centering] button
at bottom allows the pattern to be centered in the cyan grid area.(See the below
palette)
Click on this [Centering]

to center pattern in
cyan grid area.
13-4
7. Edit a central product to be centered in the pattern surrounded by red doublet.
Grid
Center of the
whole pattern
Magnified
13-5
8. Products in cyan grid area (B) are to be laid by a grid division. So the current
central product may be shifted either direction of upward or downward.
Checking [Use half grid division] ON allows the product in cyan grid area to
move by a half grid division to be centered.
Checking this ON to
change a grid division
to a half one.
A half division laying

The default is a full grid division. If needed, check “Use half grid division”
ON to move products by a half grid division.
13-6
9. Move a central product by a half grid division to be centered.
Move it by a half
grid division
1/2 grid division
Center of pattern
Magnified
13-7
10. Now, the central product looks laid in the center of the pattern. However, OXPA
still doesn’t know where the central product is within the red doublet. In order to
center the product within the pattern and mate with the red doublet, checking
both [Hrz] & [Vrt] ON at [Mate with center line] and [Cross point] ON at [Mate
center product].
Mate product with

the cross point of
red doublet
Red doublet
The red doublets represent the external or central lines of the pattern you
are working on, with which all the products are to be mated each other in
positioning.
Cross point
The cross point of both vertical and horizontal red doublets is used to mate
the central product with the center of the pattern. If just either red doublet
would be used, mating a product may be failed.
13-8
11. Only the products laid at the corners of red doublet have been mated so far.
However, other than that, the rest of the products need to be mated using the
functions at top area (C). The details are introduced later on.
11.1 Mate any products along external lines which do not mate with red doublets.
(At section 13.1, you have already experienced with the same case.) When
two products next each other in other direction are laid, click on [Outside] at
[Mate with other dir product]. The below is a example of two products to
mate with red doublet by itself as the default is set to click on [Outside].
A product at
four corners of
red doublet
A next product followed

by one at corner of red
doublet
Other direction
each other
Magnified
13-9
11.2 In order to mate product followed by mated one along external line, click on
[Inside] at [Mate with other dir product].
Product mated
along external
line
Product followed by
mated one along
external line
Other direction
each other
Magnified
This is all for creation of odd layer pattern.
13-10
13.1.3. Create even layer pattern
After completed odd layer pattern, set up how the even layer pattern is created.
As these odd and even layer patterns are the exact same as when one rotated or
reversed is equal to another, let’s assume both patterns are the exact same.
Select
[Same pattern]
This is all for creation of even layer pattern.
13.1.4. Register pattern
Click on [Registration] button once both odd and even layer patters are created.
Click on this
button
13-11
13.1.5. Check if registration is completed and exit
Click on [Check/Delete] button to check if registration is successfully completed.
Click on this
button
Click on [Check / Delete] to see “Check / Delete” screen. The pattern shows up if
successfully completed. If not, error message shows up at bottom.
Pattern shows up
Error message
Click on [Delete pattern] if failed. You will go back to just before

[13.1.4 Registration] and rework to create a pattern after reviewing
the conditions and layout.
Click on this button
13-12
When completed, click on [Exit] to return to [Create custom pattern] screen.
Click on this button
If this pattern can be accepted, click on [Exit] at [Create custom pattern] screen.
Click on this
button
This is all for Create custom pattern.
13-13
13.1.6. Detailed descriptions for each area
13.1.6.1. Chartreuse area (A)
Turned and laid

Laid left (right)
left (right)
Laid up (down)
Turned and laid

up (down)
Choose product in Chartreuse are (A). Drag & drop it to cyan grid area (B).
13.1.6.2. Cyan grid area (B)
Grid
Dropping it by releasing left button of mouse allows product to be laid in cyan grid
area (B). If you want, you can relocate it or delete a laid product by right-clicking.
13-14
13.1.6.3. Top area (C)
How to mate the laid products in positioning can be set up.
13.1.6.3.1. Two products in different direction (Outside)
One product along external line and another one in other direction are laid and
mated next to each other. See section 11.1 for the actual looks.
13.1.6.3.2. Two products in different direction (Inside)
One product off external line and another one in other direction are laid and mated
next to each other. See section 11.2 for the actual looks.
13.1.6.3.3. Mate with center line(s)
Products to mate with either central red doublet
13.1.6.3.4. Mate with cross point of center lines
A product to mate with cross point of both vertical and horizontal red doublets.
Mating may be failed if only either doublet is used.
13-15
13.1.6.3.5. Mate (2x2) brick by center line
OXPA fails in sometimes mating, if pattern is (2x2) brick.
The line of reversing axis of (2x2) brick pattern is to be specified with [Hrz center] or
[Vrt center] at [Mate (2x2) brick by].
OXPA
sometimes fails.
Example1: (2x2) brick pattern laid side by side
Example2: (2x2) brick pattern laid side by side the other direction
13-16
13.1.6.3.6. Lay products evenly
Products at left side are laid evenly on screen of [Check/Delete] after registered.
Lower part of products need to be laid evenly.
Need to be laid evenly
13-17
Evenly laid products at lower part shows up on [Check/Delete] screen after
registered.
Let’s see how products are laid if different product sizes are entered on screen of
[Check/Delete].
On the below example, only [Lower] is turned on so the upper part does not be laid
evenly.
The upper part does

not be laid evenly
Click on [Upper] at [Check/Delete] screen and register to see how products are laid.
Laid evenly
13-18
Products are also laid evenly by blue doublet. [On-line] or [Both side] for blue
doublet can be chosen.
Blue Doublet
Blue Doublet can specify products and gaps to be laid evenly.
The horizontal doublet can be moved by [Up] or [Down] and the vertical one
by [Left] or [Right].
The below example shows you a pattern to have (18)-products laid centered and
evenly spaced out.
Laid evenly
13-19
13.1.6.4. Even layer area (D)
In custom pattern creation, even layer won’t always be the same as odd one so even
layer pattern needs to be specified whenever.
13.1.6.4.1. Exact same pattern

Even layer pattern is same as odd one.
Odd layer Even layer
13.1.6.4.2. Rotated 90 degree pattern

Even layer pattern is of odd one rotated 90 degrees.
13-20
13.1.6.4.3. Rotated 180 degree pattern
Even layer is of odd one rotated 180 degrees.
13.1.6.4.4. Side by side mirror copy

Even layer is of odd one of side by side mirror copied.
13.1.6.4.5. Up-down mirror copy

Even layer is of one up-down mirror copied.
13-21
13.2. Edit Custom pattern
Click on [Check/Delete] button at [Create custom pattern] to see the below screen of
[Check/Delete].
You can walk through the custom patterns by clicking on [PREV] or [NEXT] button. If
you want, see load shape with changing product size or delete some custom patterns
you no longer need.
13-22
14. Appendix
14.1. System parameter & Others Setup
In [System Parameters], [Enter names of peripheral equipment, extended axis

setup], [Robot controller communication setup], [Servo parameter] and [SH
firmware writing down], a correct password needs to be entered to protect important
configuration data.
See [Robot manual: Installation and Service (Electrical)] for detail. In this section,
only screens of OXPA-QmV are introduced.
14.1.1. System parameters
14-1
14.1.2. Servo parameters
14.1.3. PLC setup
14-2
14.1.4. T, C and Extended axis setup
14.1.5. RC501 firmware
14-3
14.2. Error log and key trace
A correct password needs to be entered to view [Error log and key trace] as those
are also important.
Click on [Error log] button at main screen to display the below screen.
14-4
14.3. Trace Data Graph
A correct password needs to be entered to view [Trace Data] as those are also
important. When [RISC output], [Servo torque data], [Torque measuring data] are
uploaded from controller, those can be displayed on graph or be output as CSV file.
Click on [Trace data] at main screen to display the below screen once data is
uploaded.
Nothing displayed when no data is uploaded
14-5
14.4. Files inside of Hard disk
Setup OS:
It is not necessary using by recommended OS. See section 7.6.3 for recommended
OS.
Files and folders inside of installed location:

Qm2J.exe: Execute program
Qm2jloc.dll: Essential DLL of English screen displayed
CapaJ.dll: DLL of capacity calculation
tar32.dll: DLL of sequence comment translation support
RcErLoc.bin: Essential file of error information displayed
RcKyLoc.bin: Essential file of key trace data displayed
Refprg: folders for reference program (Copied to under the new registered program).
For carton box palletizing:

901.pr2 - 906.pr2: Reference program for from station 1 to pallet 1 to 6
For bag palletizing:

For de-palletizing:
14-6
14.5. Editing tool for reference pattern
Editing tool for reference pattern means edit the standard pattern in OXPA-QmV (Call
Internal pattern) and original registered pattern for each robot (Call Original
pattern).
This function is able to register the new pattern to Internal pattern and Original
pattern. Also you can delete the pattern program.
14.5.1. Start up for editing tool for Reference pattern
Execute the [Qm2Koho.exe] from Start-[Program]-[Okura]. Then following screen

will be displayed.
Just after the installation of OXPA-QmV, file will not selected. Open the Internal
pattern or Original pattern from menu bar-[file]-[Open].
14-7
14.5.2. Create new reference pattern
Just after the installation, it is able to select only Internal pattern. Following
procedures are how to add the original pattern to certain robot.
1. OXPA-QmV has only one robot or register/erase all robots standardized stacking
pattern, select the Internal pattern and edit. For this situation following work is not
necessary.
2. Open the Internal pattern.

3. Internal pattern screen will be displayed.
4. Select the “Save with name” from menu bar-[File].
5. Following screen will be displayed.
14-8
6. Select the robot which where you want to store from “Store allocation” field.
7. Click the “Save As…” button.
8. Now you create the Original pattern.

9. Original pattern file name will be indicated at main screen title.
Saved as last saved file name. Next time when start; select the saved file name from
menu bar-[File]-[Open].
14-9
14.5.3. Registering pattern
1. Select the registering pattern from “classification” dialog box. OXPA-QmV has 12
classifications of the patterns.
2. Click once on the pattern. Your selected pattern diagram will be displayed on left
side of screen. Select the same pattern style which you want to add.
3. Click the spin buttons on the M1 to 3, N1 to 3 or enter the numbers in this field.
Pattern diagram will be changed. Also stacking quantity of each layer will be
changed too.
4. Registered pattern indicates “Yes” in Green color, unregistered pattern indicates
“No” with red color.
5. After you find registering pattern, click the “Regist” button.
6. Check box will be displayed.
14-10
7. Click the “OK” for register, Click “Cancel” for does not register.
Registration level 1 and 2 is not necessary. This is special uses for Okura.
14-11
8. After the registration red colored “No” changes to green colored “Yes.”
9. Click the “Save” button from menu bar-[File]. Then this registered pattern is
enabling to select.
14.5.4. List of all pattern delete

1. Select the “View/delete pattern.” Following screen will be displayed.
2. Enter the product quantity to be displayed in “Product/Layer” field.
14-12
3. Click the “Search” button. Displays corresponded pattern from registered pattern.
4. Indicates how many patterns are corresponded and number of indicating pattern
as above figure. Use “Prev” and “Next” button.
It is able to delete the displayed pattern.
5. Select the “delete” button when you want to delete displayed pattern.
6. Check box will be displayed.
7. Click the “OK” for delete, Click for “Cancel” for does not delete.
8. Click the “Overwrite” button from menu bar-[File]. The deleted pattern program
reflected. If you do not want to reflect do not precede this.
14-13
14.5.5. Print out for pattern
1. Select the “Print” form menu bar-[File]. Following screen will be displayed.
2. Setup the printing out range by entering the maximum and minimum of
product/layer in “Maximum” and “Minimum” field. Do not change the selection
in the “Registration pattern level.” It should be “All.”
3. Click the “Print.”
4. The pattern will be printed on the default printer in the computer.
14.5.6. How to quit

1. Select the “Quit” from menu bar-[File]. When you are not overwrite after the
registering or delete program, following check box will be displayed.
2. Click the “YES” for reflect the registering and delete, click the “NO” for does not
want to reflect the registering and delete. Finishes without displays above check
box if you did not registering and delete the program or overwrite the program
already.
14-14
ROBOT Manual
OXPA-QmV
01 Version: 2012.01.24
<Caution>
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.
Okura Yusoki Co., Ltd.

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VM931 E-01_DRAFT

Offline Stacking Program Tool exclusive for A Series Robots

IMPORTANT The safety instructions with left sign of IMPORTANT

2. VERSION INFORMATION OF OXPA-QMV .....................................2-1

3. PROJECT SELECTION ..................................................................3-1

4. HOW TO CREATE NEW PROGRAM (BASIC) ..................................4-1

5. HOW TO CREATE NEW PROGRAM (PRACTICAL) ..........................5-1

6. EDITING PROGRAM ....................................................................6-1

7. UPLOAD / DOWNLOAD ...............................................................7-1

8. PROGRAM UTILITIES ..................................................................8-1

9. PRINT PARAMETERS .................................................................. 9-1

10. DEFAULT SETTINGS................................................................ 10-1

11. PARAMETER SETTING............................................................. 11-1

12. STATION & PALLET SETUP ..................................................... 12-1

13. CREATE CUSTOM PATTERN ..................................................... 13-1

14. APPENDIX .............................................................................. 14-1

1.1. For first uses

1.1.1. Software package

This package includes the following items.

1.1.2. System requirements

Usable Operation System:

1.2. Usable Robot

Usable robot types for OXPA-QmV are as follows.

Maximum storable stacking programs per a robot is

Register the robot,

Register the system parameter

Setup product dimension

Download the program to robot

1. Insert the OXPA-QmV disk to CD drive.

1. Select [Start]-[Setting]-[Control panel]-[Add/Remove Programs] from Windows.

No robot is selected for the first time use.

3.1. Project selection screen

Projects are listed in the chosen folder.

Newly created project

Click on [OK] after changing [Project comment], [Robot type], etc.

Case Palletizing is explained to an example for the procedure which creates a

4.1. Create the new program

4.1.1. What is teaching

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-QmV calculates the position data of an item 1 automatically from a system

Position data is able to divide to 3 contents

Okura A series Robot Palletizer calculates 3 contents as following procedure.

4.1.2.1. Pickup position

4.1.2.2. Stacking (Placing) position

4.1.2.3. Point positions on the course

4.2.1. Program number

The reserved programs’ purposes are as followings:

4.2.3. Product dimension

Note: Length L in the case of turning

Handled article dimensions

4.2.4. Station, Pallet, End-effector

Specify Nos. out of stations, pallets and end effectors registered.

4.3.1. Maximum layers

Note: Formula of maximum No. layer

Pallet position height(PP)

Pallet on the floor:

Pallet on the pallet station: