IAI X-SEL PX, Operation Manual, Page: 324 / 560

297
Part 4 Commands

PAPS (Set palletizing points) For 3-point teaching
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PAPS Position
number
(Palletizing
position
setting type)
CP
Set palletizing positions for 3-point teaching.
This command can also be used to set palletizing positions for 4-point teaching. In this case, the pallet
surface can be defined as any quadrangle other than square, rectangle or parallelogram.
Specify in operand 1 the start-point position number needed to set a series of palletizing positions for 3-
point teaching. If “n” is set as the start-point position number, point n+1 will represent the end point in the
PX-axis direction and point n+2 will represent the end point in the PY-axis direction.
In the case of 4-point teaching, position data corresponding to the end point must be stored in position No.
n+3.
(Note) Do not use any palletizing setting involving both SCARA and linear movement axes.
If the palletizing setting involves both SCARA and linear movement axes, an “Error No. 421,
SCARA/linear movement axis simultaneous specification error” will generate.
In operand 2, specify a desired palletizing position setting type.
[Palletizing position setting type]
If “0” is set in operand 2 or operand 2 is not specified, the settings will be recognized as those for 3-point
teaching.
The palletizing positions will be arranged on the quadrangular pallet surface determined by the
three points, namely, the start point, end point in the PX-axis direction, and end point in the PY-
axis direction, as shown in Fig. 1-(a).
If “2” is set in operand 2, the settings will be recognized as those for 4-point teaching (non-planar type).
The palletizing positions will be arranged on the quadrangle pallet surface determined by the four
points, namely, the start point, end point in the PX-axis direction, end point in the PY-axis direction,
and end point, as shown in Fig. 1-(b). Take note that whether the shape is planar or not depends
on the end point data.
Fig. 1 shows the arrangements of palletizing positions.
Fig. 1 Arrangements of Palletizing Positions
End point in PX-
axis direction
Preferential axis
(PX-axis)
Start point
PY-axis
PY-axis
End point in PY-
axis direction
(a) 3-point teaching (b) 4-point teaching
End point
End point in PX-
axis direction
Start point
End point in PY-
axis direction
Preferential axis
(PX-axis)
298
Part 4 Commands

When setting palletizing positions for 4-point teaching where all four points are known to be on a plane
and the settings also require accuracy, it is recommended that non-planar settings be used.
If “1” is set in operand 2, the settings will be recognized as those for 4-point teaching (planar type).
The plane is determined by the three points, namely, the start point, end point in the PX-axis direction,
and end point in the PY-axis direction, as shown in Fig. 2-(a). Move the end point in parallel toward the
PZ direction (vertical direction), and the intersection with the aforementioned plane will become the end
point of this palletizing movement.
Arrange palletizing positions on the quadrangular pallet surface determined by these four points.
Fig. 2-(a)
However, caution must be exercised when the three points excluding the end point meet any of the
conditions specified in Table 1, because then the moving direction of the end point will vary. This is
when the plane determined by the three points excluding the end point is lying vertical to the ground. In
this case, moving the end point in parallel toward the PZ direction (vertical direction) will not find an
intersection with the aforementioned plane.
Table 1 Moving Directions of End Point in Planar Specification
Condition Moving direction of end point
The point data of the axis i component matches among all
three points excluding the end point (refer to Fig. 2-(b)).
Move in parallel toward axis i.
The point data other than that of the PZ-axis component
matches between the start point and the end point in the PX-
axis direction (refer to Fig. 2-(c)).
The point data other than that of the PZ-axis component
matches between the start point and the end point in the PY-
axis direction (refer to Fig. 2-(c)).
The point data other than that of the PZ-axis component
matches between the end point in the PX-axis direction and the
end point in the PY-axis direction (refer to Fig. 2-(c)).
Move in parallel toward one of the two
axes other than the PZ-axis, whichever
has the smaller axis number.
* i indicates the axis number for either of the two axes other than the PZ-axis.
End point in PX-axis
direction
Start point
End point in PY-
axis direction
End point
Axis i+2
Axis i+1
Axis i
Move in parallel toward
PZ-axis direction
In a planar specification, the palletizing positions
are arranged on the plane determined by the
three points excluding the end point.
End point in planar specification
300