Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 228)

213

Part 4 Commands

x When setting palletizing positions by 4-point teaching, it is recommended that the non-planar type

specification be used if you know all four points are on a plane and if palletizing precision is required.

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The plane is determined by three points including the start point, end point in PX-axis direction

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direction) and use the intersecting point with the aforementioned plane as the end point of non-

planar palletizing.

The palletizing positions are arranged to the pallet surface of the quadrate shape which is

determined by these four points.

Take note, however, that if the three points other than the end point meet the conditions shown in

Table 1, the moving direction of the end point will vary. This occurs when the plane determined

by three points other than the end point is vertical to the ground, because in this case moving the

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the aforementioned plane.

Table 1 Moving Direction of End Point Based on Planar Type Specification

Condition Moving direction of end point

The point data of the i-axis component is the same

at all three points other than the end point.

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Move in parallel in the i-axis direction.

All point data other than the PZ-axis component is

the same between the start point and end point in

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All point data other than the PZ-axis component is

the same between the start point and end point in

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All point data other than the PZ-axis component is

the same between the end point in PX-axis direction

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Move in parallel in the direction of either of the two

axes other than the PZ-axis, whichever has the

smaller axis number.

End point in

PX-axis direction

Start point

End point in

PY-axis direction

i+2-axis

i-axis

End point

Move in parallel in the

PZ-axis direction.

End

oint based on

lanar t

e s

ecification

If the planar type is specified, palletizing positions

are arranged on the plane determined by three

points other than the end point.

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* i indicates the axis number of either of the two axes

other than the PZ-axis.

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Iai-america XSEL-KE Manuel d'utilisateur Page 228

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