IAI X-SEL

272
INTELLIGENT ACTUATOR
Part 4 Commands
 If palletizing positions are set by means of 4-point teaching and a certain level of palletizing precision is
required in a condition where all four points used in the setting of palletizing positions are known to be
on a plane, it is recommended that palletizing positions be set in a non-planar manner.
If “1” is specified in operand 2, palletizing positions will be set by 4-point teaching (planar type).
Fig. 2 (a)
The plane is determined by the three points including the start point, end point in PX-axis direction, and
end point in PY-axis direction. Shift the end point in parallel in PZ direction (vertical direction) and
define a new end point as a point of intersection of the lines extending from the original end point and
other end points on the original plane.
Palletizing positions will be placed on the quadrangular pallet surface determined by the four points,
including the new end point.
Figure.2-(a)
Take note that if any of the conditions shown in Table 1 is satisfied by any two or all of the remaining three
points as applicable, other than the end point, then the end point will shift in a different direction. These
conditions apply to situations where the plane determined by the three points excluding the end point is
lying vertically to the ground. The shifting direction of the end point must be changed in these cases,
because shifting the end point in parallel in PZ direction (vertical direction) will not provide a new end point
intersecting with the original plane.
Table 1 Shifting Direction of End Point When Planar-type Teaching Is Specified
Condition Shifting direction of end point
The point data of the i-axis component is the same among all
three points other than the end point. (Refer to Fig. 2 (b).)
Shift the end point in parallel in i-axis
direction.
The point data of any component other than the PZ-axis
component is the same between the start point and the end point
in PX-axis direction. (Refer to Fig. 2 (c).)
The point data of any component other than the PZ-axis
component is the same between the start point and the end point
in PY-axis direction. (Refer to Fig. 2 (c).)
The point data of any component other than the PZ-axis
component is the same between the end point in PX-axis direction
and the end point in PY-axis direction. (Refer to Fig. 2 (c).)
Shift the end point in parallel in the
direction of either of the two axes other
than the PZ-axis, whichever has the
younger axis number.
* i indicates the axis number of either of the two axes other than the PZ-axis.
If planar-type teaching is specified, palletizing
positions are placed on the plane determined
by the three points excluding the end point.
i-axis
i+1-axis
i+2-axis
End point in PX-
axis direction
Start point
End point in PY-
axis direction
End point when planar-type
teaching is specified
End point
Shift in parallel in PZ-axis direction