IAI X-SEL PX, Operation Manual, Page: 389 / 560

361
Part 4 Commands
A. 3-point teaching method
To set the palletizing positions by 3-point teaching, store desired positions in position data fields
as three continuous position data and then specify the first position number using a PAPS
command.
This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel
with the load coordinate system axes and not crossing with each other.
In the example shown below, position data [1], [3] and [10] are stored in three continuous
position data fields.
When three points are taught from position No. 11
Position No. 11 [1]: Reference point
Position No. 12 [3]: The end point in the PX-axis direction
Position No. 13 [10]: The end point in the PY-axis direction
(Position No. 14 [12]: End point (4-point teaching))
The encircled numbers indicate palletizing position numbers (palletizing order).
Use a PAPS command to specify the position number corresponding to the start point.
Fig. 1
PAPS 11
PEXT 14
Do no enter anything in the R-axis data column of the position data specified by a PAPS
command. (Alternatively, disable the R-axis using a GRP command.)
Use a PEXT command to set the R-axis coordinate of a given palletizing position.
Preferential axis
(PX-axis)
Start point
(PY-axis)
The pitches are calculated automatically
from the count set for each axis.
In 3-point teaching, you can specify
position data for the X and Y-axes only or
for X, Y and Z-axes. If data is specified for
three axes, the palletizing plane will
become a three-dimensional plane.
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Part 4 Commands
B. Method to set palletizing positions in parallel with the load coordinate system axes
Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in
a position data field and specify the applicable position number using
a PAST command, as shown below.
Use a PEXT command to set the R-axis coordinate of a given
palletizing position.
Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-
axis directions.
Palletizing axes: Use a PASE command to specify the two axes, one representing the
PX-axis direction and the other representing the PY-axis direction, to
be used in palletizing.
(An actuator axis number parallel with the preferential axis (PX-axis) and another perpendicular
to the preferential axis)
PAST 100 Teach position data No. 100 as the start point.
PAPT 45 30 The PX-axis direction pitch is 45 mm and the PY-axis direction
pitch is 30 mm.
PASE 2 1 Set axis 2 (Y-axis) as the preferential axis (PX-axis) and axis 1
(X-axis) as the axis perpendicular to the preferential axis.
(Note) When the palletizing axes, palletizing pitches and palletizing reference point are
used, the PX-axis and PY-axis must be parallel with the load coordinate system
axes and crossing with each other. In the example shown above, load coordinate
system No. 0 (base coordinate system) is selected.
Select either method A or B for each palletizing setting.
PX-axis
direction
pitch
45
30
Teach position data No. 100.
Xb
PY-axis direction pitch
Yb
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