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INTELLIGENT ACTUATOR
Part 4 Commands
Schematic diagram of placement-point positions based on the above program
The number shown at the top right of each circle indicates a palletizing position number.
Count in PX-axis direction = 5, Count in PY-axis direction = 7
Zigzag offset: 20
Zigzag count: 4
Pallet shift angle : –1.79
Axis-1 direction
End-point coordinates of preferential axis (PX-axis): Position No. 2 (260, 105, 100)
Reference point: Position No. 1
(100, 100, 100)
PY-axis
End-point coordinates of PY-axis: Position No. 3
(95, 280, 100)
PX-axis
Axis-2 direction
5
4
3
2
1
20
14
23
32
9
18
27
13
22
31
8
17
26
12
21
30
7
16
25
11
20 29
6
15
24
10
19
28
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