Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 240)

225

Part 4 Commands

z PARG (Get palletizing angle)

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 PARG

Palletizing

number

Axis

number

Obtain the palletizing angle.

Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the palletizing

number specified in operand 1, and store the result in variable 199.

This command need not be executed, if not necessary.

If this command is executed after PAPS (set 3 palletizing points for teaching) is executed, the angle

formed by the preferential axis and the specified physical axis will be calculated automatically. If this

command is executed before PAPS is executed, or after both PAPS and PASE are executed in this

order, an error will generate.

The axes to be used can be specified with a GRP command before PAPS is executed (refer to the

detailed explanation of PAPS). If the valid axis pattern of the 3-point teaching data does not match, an

HUURU³&%0LVPDWFKHGYDOLGD[HVDQGSDOOHWL]LQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH

If the number of valid point-data axes (the number of valid axes excluding the PZ-axis, if a palletizing Z-

axis (PZ-axis) has already been declarHGLVOHVVWKDQWZRDQHUURU³&$(,QVXIILFLHQWYDOLGD[HVIRU

SDOOHWL]LQJSRLQWWHDFKLQJGDWD´ZLOOJHQHUDWH,IWKHnumber of valid point-data axes is more than two,

DQHUURU³&%3;3<D[HVLQGHWHUPLQDEOHZKHQREWDLQLQJSDOOHWL]LQJDQJOH´ZLOOJHQHUDWH

If the axis number specified in operand 2 is neither of the two valid axes in the point data excluding the

3=D[LVDQHUURU³&%$5HIHUHQFHD[LVDQG3;3<D[HVPLVPDWFKZKHQREWDLQLQJSDOOHWL]LQJDQJOH´ZLOO

generate.

If the reference point among the three teaching points LVWKHVDPHDVWKHSRLQWGDWDDWWKH3;D[LVHQG

SRLQWRWKHUWKDQWKH3=D[LVFRPSRQHQWDQHUURU³5HIHUHQFHSRLQWDQG3;D[LVHQGSRLQWLGHQWLFDOZKHQ

REWDLQLQJSDOOHWL]LQJDQJOH´ZLOOJHQHUDWHDQGDQJOHFDOFXODWLRQZLOOEHGLVDEOHG

The actual operating direction may have been reversed depending on the mechanism of the rotating axis

DQGWKHVHWWLQJRID[LVVSHFLILFSDUDPHWHU1R³2SHUDWLQJGLUHFWLRQUHYHUVLQJVHOHFWLRQ´7RXVHWKH

value obtained by this command, be sure to confirm the actual operating direction.

If the output field is specified, the output will turn ON after this command is executed.

z PAPG (Get palletizing calculation data)

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 PAPG

Palletizing

number

Position

number

Store the position coordinate data of the palletizing points for the palletizing number specified in operand

1, in the position number specified in operand 2.

If the output field is specified, the output will turn ON after this command is executed.

1 2 ... 235 236 237 238 239 240 241 242 243 244 245 ... 423 424

Commentaires sur ces manuels

Pas de commentaire

Iai-america XSEL-KE Manuel d'utilisateur Page 240

Commentaires sur ces manuels

Produits connexes et manuels pour Matériel Iai-america XSEL-KE