IAI PSEL, Operation Manual

Page: 935 / 1062

[21] Palletizing De
fi
nition
441
(Note) Since ASEL, PSEL and SSEL controllers are 2-axis controllers, setting 2 in
operand 2 results in the planar type, just like 1 is set.
If palletizing positions are set by 4-point teaching, it is recommended that the non-planar type
be specified as long as all four points are known to be on the plane and the palletizing requires
precision.
If operand 2 is set to 1, 4-point teaching (planar type) is set.
Fig. 2-(a)
The plane is determined by three points including the start point, end point in PX-axis
direction and end point in PY-axis direction. The end point is moved in parallel in PZ
direction (vertical direction) and the point of intersection with the aforementioned plane is
defined as the end point for this type of palletizing.
Palletizing positions are placed on the quadrilateral pallet surface determined by these
four points.
Fig. 2-(a)
Take note, however, that the moving direction of the end point varies if the three points other
than the end point meet the conditions specified in Table 1. This is when the plane
determined by the three points other than the end point is vertical to the ground. In this case,
moving the end points in parallel with PZ direction (vertical direction) does not find a point of
intersection with this plane.
Table 1 Moving Direction of End Point Based on Planar Type Specification
Condition Moving direction of end point
Point data other than i-axis component matches
among the three points other than the end point. (Refer
to Fig. 2-(b))
Move in parallel in i-axis direction.
Point data other than PZ-axis component matches
between the start point and end point in PX-axis
direction. (Refer to Fig. 2-(c))
Point data other than PY-axis component matches
between the start point and end point in PX-axis
direction. (Refer to Fig. 2-(c))
Point data other than PZ-axis component matches
between the end point in PX-direction and end point in
PY-axis direction. (Refer to Fig. 2-(c))
Move in parallel in the direction of one of
the two axes other than the PZ-axis,
whichever has the smaller axis number.
* i indicates the axis number of one of the two axes other than the PZ-axis.
End point in PX-axis direction
Start point
End point in PX-axis direction
End point when the planar type is
specified
End point
Move in parallel in PZ-axis direction.
If the planar type is specified,
palletizing positions are placed
on the plane determined by the
three points excluding the end point.
i-axis
i+1 axis
i+2 axis