IAI X-SEL PX, Operation Manual, Page: 392 / 560

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Part 4 Commands
3. Palletizing Calculation
The items that can be operated or obtained using palletizing calculation commands are shown below:
(1) Palletizing position number Commands --- PSET, PINC, PDEC, PTNG
Number showing the ordinal number of a palletizing point.
(In Fig. 1 given in the explanation of palletizing pattern, the encircled numbers are palletizing
position numbers.)
Always set this command before executing a palletizing movement command (excluding ARCH)
--- PSET
For example, executing a palletizing movement command by setting 1 as the palletizing position
number will move the axes to the start point. Executing a palletizing movement command by
setting 2 as the palletizing position number will move the axes to the point immediately next to
the start point in the PX-axis direction.
(2) Palletizing angle Command --- PARG
Angle formed by the physical axis and the palletizing preferential axis (PX-axis) (

in the figure
below).
 indicates an angle calculated by ignoring the coordinate in the palletizing Z-axis direction.
In the figure below,

will become a positive value if axis 1 is used as the reference for angle
calculation.
Fig. 4
If the composite axis is a rotating axis, obtaining the palletizing angle and adding it to the composite-
axis operation as an offset will allow correction of the composite axis against positional shift of the
palletizing container.
Executing a “get palletizing angle” command following a palletizing setting via 3-point teaching will
automatically obtain the palletizing angle.
If the setting by 3-point teaching was done three-dimensionally, a palletizing Z-axis must be specified
(PCHZ).
(3) Palletizing calculation data Command --- PAPG
When a palletizing position number is set, this data refers to the position coordinate data of the
palletizing point corresponding to that palletizing position number.
Note that this position coordinate data does not reflect normal offset or palletizing Z-axis offset.
Load coordinate
system, Yw-axis
Palletizing container
PY-axis
PX-axis
–

direction
+

direction

Load coordinate
system, Xw-axis
366
Part 4 Commands
4. Palletizing Movement
Palletizing movement commands include those used to move to a palletizing point and one used to
move to an end point specified by position data.
(1) Movement commands to palletizing point --- PMVP, PMVL (Dedicated linear movement axis
command), PACH (Dedicated SCALA command)
Position coordinates of a two-dimensionally or three-dimensionally placed palletizing point are
calculated and movement is performed using the calculated point as the end point. (The axes
will move to the palletizing point of the palletizing position number specified in the executed
command.)
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.
PACH: Move from the current position to a palletizing point via arch motion.
Palletizing arch motion must be set in a palletizing setting.
PCHZ 3
PTRG 11 13
PACH 1 12
Highest point of arch motion
Position No. 12
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
Start point
End point
Palletizing No. 1
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