IAI X-SEL

271
INTELLIGENT ACTUATOR
Part 4 Commands
 PAPS (Set palletizing points) for 3-point & 4-point teaching
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PAPS
Position
number
(Palletizing
position
setting type)
CP
Set palletizing positions by means of 3-point teaching.
Palletizing positions can also be set by means of 4-point teaching. In 4-point teaching, the pallet surface
can be defined as any quadrangle other than a square, rectangle or parallelogram.
In operand 1, specify the position number to be used as the start point required in the setting of
palletizing positions by 3-point teaching. If “n” is set as the position number corresponding to the start
point, store position data corresponding to the end point in PX-axis direction in position No. n+1, and
store position data corresponding to the end point in PY-axis direction in position No. n+2.
In the case of 4-point teaching, position data corresponding to the end point must also be stored in
position No. n+3.
In operand 2, specify the palletizing position setting type.
[Palletizing position setting type]
If “0” is set or nothing is specified in operand 2, palletizing positions will be set by 3-point teaching.
As shown in Fig. 1 (a), palletizing positions will be placed on the quadrangular pallet surface
determined by the three points including the start point, end point in PX-axis direction, and end point
in PY-axis direction.
If “2” is specified in operand 2, palletizing positions will be set by 4-point teaching (non-planar type).
As shown in Fig. 1 (b), palletizing positions will be placed on the quadrangular pallet surface
determined by the four points including the start point, end point in PX-axis direction, end point in
PY-axis direction, and end point. Take note that whether the shape becomes planar or not depends
on the point data of the end point.
Fig. 1 shows how palletizing positions are placed.
Fig. 1 Placement of Palletizing Positions
End point in PX-
axis direction
End point in PY-
axis direction
End point
End point in PX-
axis direction
Start point
Start point
End point in PY-
axis direction
PY-axis
PY-axis
Priority axis
(PX-axis)
Priority axis
(PX-axis)
(a) 3-point teaching
(b) 4-point teaching