IAI X-SEL

273
INTELLIGENT ACTUATOR
Part 4 Commands
When the point data of any component other than the PZ-axis component is the same between
any two points among the three points other than the end point
(In the above figure, the point data of a component other than the PZ-axis component is the
same between the start point and the end point in PY-axis direction.)
 If the valid axis pattern of the point data used for 3-point or 4-point teaching does not match, an error
“CB0, Mismatched valid axes and palletizing 3-point teaching data” will generate. Take note, however,
that if this command is executed after specifying an axis used in a GRP command, only the specified
axis among the valid point-data axes will be used as the source of palletizing point data. Executing the
GRP command thereafter under a different setting will not have any negative effect.
 If a PZ-axis is already declared, there must be two valid axes excluding the PZ-axis. If a PZ-axis is not
declared yet, there must be two or three valid axes. If there are not enough valid axes, an error “CAE:
Insufficient valid axes for palletizing 3-point teaching data” will generate. If there are too many valid axes,
on the other hand, an error “CAF: Excessive valid axes for palletizing 3-point teaching data” will generate.
If planar-type teaching is specified and a PZ-axis is not declared yet, specify two valid axes. If there are
fewer or more than two valid axes, a “CB4: Arch-motion Z-axis non-declaration error” will generate.
i-axis
Figure.2-(b)
Shift in parallel in
i-axis direction
i+1-axis
i+2-axis
End point
End point in PY-
axis direction
Start
point
End point in PX-
axis direction
End point when planar-
type teaching is specified
The end point shifts in parallel in i-axis direction and
palletizing positions are placed on the plane determined
by the three points excluding the end point.
Figure.2-(c)
When the point data of the i-axis component is the same among all three points other than the
end point
i+2-axis
Shift in parallel in i-axis
direction
End point when planar-type
teaching is specified
End point in PX-
axis direction
i+1-axis
Start point
If the PZ-axis component is given by the i+2-axis, the remaining two axes are
the i-axis and i+1-axis.
Of these two axes, the i-axis has the younger axis number. Accordingly, the
end point shifts in parallel in i-axis direction and palletizing positions are
placed on the plane determined by the three points excluding the end point.
i-axis
End point
End point in PY-
axis direction