Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 255)

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Part 4 Commands

A. 3-point teaching method

To set the pal

letizing positions by 3-point teaching, store desired positions in position data fields as

three continuous position data and then specify the first position number using a PAPS command.

This method allows you to set the PX-axis and PY-axis as three-dimensional axes not parallel with

the actuators and not crossing with each other.

In the example shown below, position data c, e and l are stored in three continuous position data

fields.

When three points are taught from position No. 11

Position No. 11 c: Start point (First palletizing position)

Position No. 12 e: Palletizing position corresponding to the end point in the PX-axis direction

Position No. 13 l: Palletizing position corresponding to the end point in the PY-axis direction

The encircled numbers indicate palletizing position numbers (palletizing order).

Use a PAPS command to specify the position number corresponding to the start point.

Fig. 1

PAPS 11

The pitches are calculated automatically from the count set for each axis.

In 3-point teaching, you can specify position data for two axes or three axes. If data are specified for

three axes, the palletizing plane will become a three-dimensional plane.

Preferential

axis (PX-

axis)

Start point

(PY-axis)

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Iai-america XSEL-KE Manuel d'utilisateur Page 255

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