TK52705.PickHeightTeaching.pdf - 第17页

 Product Engineering Division SMT Sect ion Robotics Operations Y AMAHA MOTOR CO., L TD. MDOC-SOFT50389   17/26  Item Range Default Desc ript ion [4mm Met al Guide] Measure P oint X (mm) Measure P oint Y(mm) X:-5 .0 ～…

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Product Engineering Division
SMT Section
Robotics Operations
YAMAHA MOTOR CO., LTD.
MDOC-SOFT50389
16/26
Item Range Default Description
Feeder Type
(▲2)
[4mm/8mm
Feeder]
[Over
12mm
Feeder]
[Tray]
4mm/8mm
Feeder
Changes the setting screens.
Below is the settings only for 4mm/8mm feeder
SS Tape Guide Type
Metal
Plastic
Mix
Mix Select a guide type of SS feeder that is
used on the machine.
Metal: Only iron guide feeders are used.
Plastic: Only carbon guide feeders are
used.
Mix: Both iron guide and carbon guide
are used.
With ZS feeders, it works as metal
guide setting regardless of this
setting, because they use only iron
guides.
Tape Guide Recog
Mark No.
0～300
280 Mark data number used for feeder guide
recognition. Enter a database number.
When [SS Tape Guide Type] is set to
“Metal” or “Plastic”, enter “0”.
Result Offset(mm)
-1.0～1.0
0.1 Enter offset value added to teaching
result.
[Result Range]
Lower Limit(-)(mm)
Upper Limit(+)(mm)
Lower:-5.0
～0.0
Upper:0.0
～5.0
-1.5
1.0
Enter a threshold of teaching result.
When teaching result is over this range,
an error occurs.
[8mm Metal Guide]
Measure Point X(mm)
Measure Point Y(mm)
X:-5.0 ～
5.0
Y:-30.0 ～
30.0
X: 0.0
Y: -5.0
Teaching position on an 8mm feeder with
metal guide. Enter the offset value from
pick up coordinate.
[8mm Metal Guide]
Guide Thickness(mm)
0.0～3.0
1.0 Thickness of metal guide of the 8mm and
4mm feeders.
Product Engineering Division
SMT Section
Robotics Operations
YAMAHA MOTOR CO., LTD.
MDOC-SOFT50389
17/26
Item Range Default Description
[4mm Metal Guide]
Measure Point X(mm)
Measure Point Y(mm)
X:-5.0 ～
5.0
Y:-30.0 ～
30.0
X: 0.0
Y: -3.5
Teaching position on a 4mm feeder with
metal guide. Enter the offset value from
pick up coordinate.
[8mm Plastic Guide]
Measure Point X(mm)
Measure Point Y(mm)
X:-5.0 ～
5.0
Y:-30.0 ～
30.0
X: -3.5
Y: -5.0
Teaching position on an 8mm feeder with
plastic guide. Enter the offset value from
pick up coordinate.
[8mm Plastic Guide]
Guide Thickness(mm)
0.0～3.0
1.8 Thickness of plastic guide of 8mm
feeders.
[ALF]
Measure Point X(mm)
Measure Point Y(mm)
X:-5.0 ～
5.0
Y:-30.0 ～
30.0
X: 0.0
Y: 8.0
Teaching position on ALF. Enter the
offset value from pick up coordinate.
(▲5)
[ALF]
Guide Thickness(mm)
0.0～3.0
2.2 Thickness of ALF guide.
(▲5)
[Vacuum Check Level]
Open Vacuum Level
1～30
2 When variation of “Open Vacuum Level”
is over this value, it goes to the next
measurement phase.
[Vacuum Check Level]
Close Vacuum Level
1～30
3 When variation of “Close Vacuum Level”
is over this value, it goes to the next
measurement phase.
[Vacuum Check Level]
Diff Vacuum Level
1～30
5 Difference between before and after
measurement is larger than this value,
an error occurs.
[Start Pos. Offset(mm)]
Search Phase
0.0～30.0
5.0
Enter an offset value from the plate
height Z, where “Search Phase” starts.
[End Pos. Offset(mm)]
Search Phase
0.0～10.0
0.5
Enter an offset value from the plate
height Z, where “Search Phase” finishes.
[End Pos. Offset(mm)]
Detail Phase
0.0～10.0
1.0 Enter an offset value from the end of
“Search Phase” to where “Detail Phase”
finishes.
[Step Volume(mm)]
Detail Phase
0.0～1.0
0.03 Enter descent step amount at “Detail
Phase”.
Product Engineering Division
SMT Section
Robotics Operations
YAMAHA MOTOR CO., LTD.
MDOC-SOFT50389
18/26
Item Range Default Description
[Step Volume(mm)]
Up Phase
0.0～1.0
0.01 Enter ascent step amount at “Up Phase”.
Below is the setting items for 12mm feeder and tray feeder
(▲2) (▲3)
Measure Mode Normal
Slowly
Normal Select a measurement mode.
Select [Normal] unless otherwise
instructed.
Limit Parts Size
X,Y,Z(mm)
X,Y,Z :
100.0
X,Y : 3.0
Z: 1.0
The minimum parts size allowable for
height measurement. Pick height is not
measured when parts size is smaller
than this value.
When “0.0” is entered, parts size is not
limited.
Result Offset(mm)
-1.0～1.0
12mm/0.1
Tray/0.5
Enter an offset value to add to a
measurement result.
[Result Range]
Lower Limit(-)(mm)
Upper Limit(+)(mm)
12mm/
±5.0mm
Tray/
±12.6mm
12mm/
±2.0
Tray/
±12.6
Threshold to judge measurement result
error. When the measured height is over
the [Upper Limit] or [Lower Limit] value,
and error occurs.
[Vacuum Check Level]
Open Vacuum Level
1～30
2 When variety of measured vacuum level
is over this value, it goes to the next
measurement phase.
[Vacuum Check Level]
Diff Vacuum Level
1～30
5 When a difference of vacuum level
before and after measurement is over
this value, an error occurs.
Lowest Open Vac
Level
1～200
100 When vacuum level at starting
measurement is higher than this value,
and error occurs.
Check Sec
-10.0 ～
10.0
-0.001 Used for judge of height measurement.
Do not change this value unless
otherwise instructed.
[Start Pos. Offset]
[Search Phase]
0.0～30.0
12mm/5.0
Tray/15.0
Enter an offset value from the plate
height Z to start [Search Phase]. For tray
parts, an offset value is from the pallet
bottom.