IAI PSEL, Руководство по эксплуатации

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3. Program
159
[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”.
[Palletizing counts ................ Command: PAPI]
Set the palletizing counts.
PAPI 3 4 Count for preferential axis (PX-axis): 3, Count for PY-axis: 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 or 4-points teaching method]
Set three position-data points or four position-data points specifying the
palletizing positions. PAPS
B
[Method to set palletizing positions in parallel with the actuators
(in parallel with an axis on the work coordinate system in the case of a
SCARA robot)]
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