IAI PSEL, Operation Manual

Page: 946 / 1062

[22] Palletizing Calculation
452
z
PARG (Get palletizing angle)
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 PARG
Palletizing
number
Axis
number
CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
Obtain the palletizing angle.
Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the
palletizing number specified in operand 1, and store the result in variable 199.
This command need not be executed, if not necessary.
If this command is executed following PAPS (Set palletizing by 3-point teaching), the angle
formed by the priority axis and specified axis on the work coordinate system is calculated
automatically. An error occurs if this command is executed when PAPS is not yet executed or
after PASE has been executed following PAPS.
The axis to be used with a GRP command can be specified before PAPS is executed (refer to
the detailed explanation of PAPS). If the effective axis pattern for 3-point teaching data does
not match, an “CB0: Mismatched effective axes for palletizing point data by 3-point teaching”
error occurs.
If the number of effective point data axes (number of effective axes excluding the PZ-axis
(palletizing Z-axis) if the PZ-axis is declared) is less than two, a “CAE: Insufficient effective
axes for palletizing point data by 3-point teaching” error occurs. If the number of effective point
data axes is greater than two, a “CB9: PX/PY-axis indeterminable error at acquisition of
palletizing angle” occurs.
If the axis corresponding to the axis number in operand 2 does not specify one of the two valid
axes associated with the point data, an error “CBA, Reference-axis/PX/PY-axis mismatch error
at palletizing angle acquisition” will generate.
If the data other than PZ-axis component is identical between the reference point and PX-axis
end point in 3-point teaching, a “Reference point/PX-axis end point identical error at acquisition
of palletizing angle” occurs and angle calculation is disabled.
If the output field is specified, the output will turn ON after this command is executed.