Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 384)

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Part 4 Commands

(2) Palletizing pattern --- Command: PAPN

Select a pattern indicating the palletizing order.

The two patterns illustrated below are available.

The encircled numbers indicate the order of palletizing and are called “palletizing position

numbers.”

Fig. 1

PAPN 2 When pattern 2 is selected

(Setting is not necessary if pattern 1 is selected.)

The row from 1 to 3 to be placed first is called the “preferential axis (PX-axis),” while the other

direction comprising the palletizing plane is called the “PY-axis.”

(3) Palletizing counts --- Command: PAPI

Set the palletizing counts.

PAPI 3 4 Count for preferential axis (PX-axis): 3, Count for PY-axis: 4

(4) Palletizing position setting

Palletizing position setting is performed mainly by method A or B, as explained below. Set the

palletizing positions for each palletizing setting based on method A or B.

Setting method Commands

3-point teaching method

Set three position-data points specifying the palletizing

positions.

PAPS

Method to set palletizing positions in parallel with the actuators

Set from the palletizing axes, palletizing reference point and

palletizing pitches.

PASE, PAST,

PAPT

Pattern 1

Pattern 2

Preferential

axis (PX-

axis)

Preferential

axis (PX-

axis)

Start point

(PY-axis)

Start point

1 2 ... 379 380 381 382 383 384 385 386 387 388 389 ... 557 558

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Iai-america XSEL-QX Manuel d'utilisateur Page 384

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