IAI X-SEL PX, Operation Manual, Page: 386 / 560

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Part 4 Commands
Chapter 5 Palletizing Function
The SEL language used by the IX Controller provides palletizing commands that support palletizing
operation. These commands allow simple specification of various palletizing settings and enable arch
motion ideal for palletizing.
1. How to Use
Use palletizing commands in the following steps:
(1) Palletizing setting
Set palletizing positions, arch motion, etc., using palletizing setting commands.
(2) Palletizing calculation
Specify palletizing positions using palletizing calculation commands.
(3) Palletizing movement
Execute motion using palletizing movement commands.
2. Palletizing Setting
Use the palletizing setting commands to set items necessary for palletizing operation. The setting
items include the following:
(1) Palletizing number setting --- Command: BGPA
At the beginning of a palletizing setting, determine a palletizing number using a BGPA command
to declare the start of palletizing setting.
At the end, declare the end of palletizing setting using an EDPA command.
BGPA 1 Declare the start of setting for palletizing No. 1.
Set palletizing in these steps.
EDPA Declare the end of palletizing setting at the end.
A maximum of 10 sets (palletizing Nos. 1 to 10) of palletizing setting can be specified for each
program.
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Part 4 Commands
(2) Palletizing pattern --- Command: PAPN
Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
The encircled numbers indicate the order of palletizing and are called “palletizing position
numbers.”
Fig. 1
PAPN 2 When pattern 2 is selected
(Setting is not necessary if pattern 1 is selected.)
The row from 1 to 3 to be placed first is called the “preferential axis (PX-axis),” while the other
direction comprising the palletizing plane is called the “PY-axis.”
(3) Palletizing counts --- Command: PAPI
Set the palletizing counts.
PAPI 3 4 Count for preferential axis (PX-axis): 3, Count for PY-axis: 4
(4) Palletizing position setting
Palletizing position setting is performed mainly by method A or B, as explained below. Set the
palletizing positions for each palletizing setting based on method A or B.
Setting method Commands
A
3-point teaching method
Set three position-data points specifying the palletizing
positions.
PAPS
B
Method to set palletizing positions in parallel with the actuators
Set from the palletizing axes, palletizing reference point and
palletizing pitches.
PASE, PAST,
PAPT
Pattern 1
Pattern 2
Preferential
axis (PX-
axis)
Preferential
axis (PX-
axis)
Start point
(PY-axis)
(PY-axis)
Start point
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