Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 320)

296

Part 4 Commands

z PAST (Set palletizing reference point)

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 PAST

(Position

number)

Prohibited CP

Set the reference point for the PX-axis (preferential axis), PY-axis and PZ-axis (when palletizing Z-axis

declaration is valid) for use in palletizing calculation.

If a value is set in operand 1, that position number specified in operand 1 will be used to store the

reference point data.

If no value is set in operand 1, the position-number setting for storing reference point data will become

invalid.

This command is used in conjunction with PASE and PAPT.

If this command is not set, the reference point will be set to X = 0 and Y = 0.

Palletizing positions are calculated as points on the palletizing plane consisting of the reference point,

PX-axis and PY-axis. Therefore, the position data defining the reference point must include valid

coordinate components for the PX-axis, PY-axis and PZ-axis (when palletizing Z-axis declaration is

valid). If the coordinate components for these axes are invalid, an error will generate during palletizing-

position coordinate calculation accompanying a PAPG command (get palletizing calculation data) or any

palletizing movement command. The coordinate components for other axes will be ignored during

palletizing-position coordinate calculation.

If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error

will generate.

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

Do not use any palletizing setting involving both SCARA and linear movement axes.

If the palletizing setting involves both SCARA and linear movement axes, an “Error No. 421,

SCARA/linear movement axis simultaneous specification error” will generate.

(Note 1) If this command is not set while load coordinate system No. 0 (base coordinate system) is

selected, executing a palletizing movement command will generate an error because the

palletizing start point becomes (0, 0) and the axes are unable to move.

(Note 2) If the R-axis is set in the position data, exclude the R-axis from the valid axes using a GRP

command. (This is not necessary if the R-axis column is empty.)

The R-axis data of a given palletizing position is set using a PEXT command.

1 2 ... 315 316 317 318 319 320 321 322 323 324 325 ... 557 558

Commentaires sur ces manuels

Pas de commentaire

Iai-america XSEL-QX Manuel d'utilisateur Page 320

Commentaires sur ces manuels

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