IAI PSEL, Operation Manual

Page: 933 / 1062

[21] Palletizing De
fi
nition
439
z
PAST (Set palletizing reference point)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PAST
(Position
number)
Prohibited CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
Set the reference point for PX-axis (priority axis), PY-axis and PZ-axis (when palletizing
Z-axis declaration is effective) to be used in palletizing calculation.
If a value is set in operand 1, that position number specified in operand 1 will be used to store
the reference point data.
If no value is set in operand 1, the position-number setting for storing reference point data will
become invalid.
This command is used in conjunction with PASE and PAPT.
If this command is not set, the reference point is defined as X = 0, Y = 0.
Palletizing positions are calculated as points on the palletizing plane constituted by the
reference point, PX-axis and PY-axis.
Accordingly, position data of the reference point must include valid coordinate components for
PX-axis, PY-axis and PZ-axis (when palletizing Z-axis declaration is effective). If these
coordinate components are invalid, an error occurs during palletizing position coordinate
calculation for PAPG (Get palletizing calculation data) or other palletizing movement
command. Coordinate components of other axes are ignored during palletizing position
coordinate calculation.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting is
not permitted).
If the output is specified, it turns ON after this command has been executed.
If the arch motion setting that SCARA axis and linear drive axis exist together is established,
421 “SCARA/Linear Drive Axes Double Indication Error” will occur.
Also, if the arch motion setting that SCARA axes for two units exist together is established,
B80 “Indication Prohibited Axis Error” will occur.
Establish the arch motion setting with a consideration to have the operation axes all the same
SCARA axes or all linear drive axes.
(Note 1) In the case of SCARA robots, executing a palletizing movement command while
the work coordinate system selection number is set to 0 (base coordinate
system) and this command is not yet set generates an error because the
palletizing start position is (0, 0) and thus movement is disabled.
(Note 2) In the case of SCARA robots, the R-axis should be excluded from the effective
axes, if already set in the position data, with a GRP command.
(This is not required if the R-axis field is blank.)
Set the R-axis data at the palletizing position using a PEXT command.