IAI PSEL, Руководство по эксплуатации

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3. Program
164
[3] Palletizing Calculation
The items that can be operated or obtained using palletizing calculation commands are shown
below:
[Palletizing position number Commands ...... PSET, PINC, PDEC, PTNG]
Number showing the ordinal number of a palletizing point. (In Fig. 1 for [2] given in the
explanation of palletizing pattern, the encircled numbers are palletizing position numbers.)
Always set this command before executing a palletizing movement command --- 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.
[Palletizing angle Command ........PARG]
This is the angle formed by the physical axis and the preferential palletizing axis (PX-axis) (
T
in the figure below).
T
represents an angle calculated by ignoring the coordinate in palletizing Z-axis direction.
In the figure below,
T
will become a negative value if axis 1 is used as the reference for angle
calculation.
If the composite axis is a rotating axis, you can obtain the palletizing angle and add it as an
offset to the operation of the composite axis in order to correct the composite axis against any
position error of the palletizing container.
With XSEL commands, executing a “get palletizing angle” command following a palletizing
setting via 3-point teaching will automatically obtain the palletizing angle.
If 3-point teaching is set three-dimensionally, you must specify the palletizing Z-axis.
[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, however, that this position coordinate data does not reflect any normal offset or
palletizing Z-axis offset.
Physical-axis
direction (axis 2)
Palletizing container
PY-axis
PX-axis
-
T
direction
+
T
direction
Physical-axis
direction (axis 1)
Fig. 4
T