IAI PSEL, Руководство по эксплуатации

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[21] Palletizing De
fi
nition
442
Fig. 2-(b)
The point data for i-axis component matches among the three points other than the end point:
Fig. 2-(c)
The point data other than PZ-axis component matches between two of the three points other than
the end point:
(In the figure above, the point data other than PZ-axis component matches between the start point
and end point in PY-axis direction.)
x
If the valid axis pattern does not match the point data for 3-point teaching or 4-point
teaching, an error “CB0, Mismatched valid axes for palletizing 3-point teaching data” will
generate. If a PAPS command is executed after specifying the applicable axes using a GRP
command, only the point data corresponding to the specified axes, among all axes whose
point data is valid, will be used as palletizing point data. Executing a GRP command
thereafter with a different setting will have no effect.
x
If the PZ-axis has been declared, there must be two effective axes other than the PZ-axis. If
the PZ-axis is not yet declared, there must be two or three effective axes. If there are not
enough effective axes, a “CAE: Insufficient effective axes for palletizing point data by 3-point
teaching” occurs. If there are too many effective axes, on the other hand, a “CAF: Excessive
effective axes for palletizing point data by 3-point teaching” occurs. If the planar type is
specified and PZ-axis is not yet declared, set two effective axes. If the number of effective
axes is other than 2, a “CB4: Arch motion Z-axis non-declaration error” occurs.
x
This command cannot be used with a PASE (set palletizing axes) command. Whichever was
set later will be given priority. (A single PAPS command can substitute a set of PASE, PAPT
and PAST commands.)
x
If this command is executed before BGPA is declared (= while palletizing setting is not
enabled), an error, “CB5, BGPA not declared at palletizing setting” will generate.
x
If the output field is specified, the output will turn ON after this command is executed.
i-axis
i+1 axis
i+2 axis
i+2 axis
i-axis
Start point
Start point Start point
End point
End point
i+1 axis
End point in PX-axis direction
End point in PX-axis direction
End point in PX-axis direction
End point in PX-axis direction
End point when the planar type is specified
End point when the planar type is specified
Move in parallel
in i-axis direction.
Move in parallel
in i-axis direction.
If the PZ-axis component is i+2 axis, then the remaining two axes are the
i-axis and i+1 axis, of which the i-axis has the smaller axis number.
Accordingly, the end point moves in parallel in the i-axis direction
and palletizing positions are placed on the plane determined by the
three points excluding the end point.
The end point moves in parallel in the i-axis direction
and palletizing positions are placed on the plane
determined by the three points excluding the end point.