IAI PSEL, Руководство по эксплуатации

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3. Program
161
B. Method to set palletizing positions in parallel with the actuators
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.
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 45mm and the PY-axis
direction pitch is 30mm.
PASE 2 1 Set axis 2 as the priority axis (PX-axis) and axis 1 as
the rectangular axis and the priority axis.
(Note) When the above palletizing axes, palletizing pitches and palletizing reference point
are used, the PX-axis and PY-axis must be parallel with the actuators and crossing
with each other.
Select either method A or B for each palletizing setting.
Axis 2
PX-axis direction
pitch
Teach position data No. 100.
Axis 1
PY-axis direction pitch