Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 322)

298

Part 4 Commands

x When setting palletizing positions for 4-point teaching where all four points are known to be on a plane

and the settings also require accuracy, it is recommended that non-planar settings be used.

If “1” is set in operand 2, the settings will be recognized as those for 4-point teaching (planar type).

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

and end point in the PY-axis direction, as shown in Fig. 2-(a). Move the end point in parallel toward the

PZ direction (vertical direction), and the intersection with the aforementioned plane will become the end

point of this palletizing movement.

Arrange palletizing positions on the quadrangular pallet surface determined by these four points.

Fig. 2-(a)

However, caution must be exercised when the three points excluding the end point meet any of the

conditions specified in Table 1, because then the moving direction of the end point will vary. This is

when the plane determined by the three points excluding the end point is lying vertical to the ground. In

this case, moving the end point in parallel toward the PZ direction (vertical direction) will not find an

intersection with the aforementioned plane.

Table 1 Moving Directions of End Point in Planar Specification

Condition Moving direction of end point

The point data of the axis i component matches among all

three points excluding the end point (refer to Fig. 2-(b)).

Move in parallel toward axis i.

The point data other than that of the PZ-axis component

matches between the start point and the end point in the PX-

axis direction (refer to Fig. 2-(c)).

The point data other than that of the PZ-axis component

matches between the start point and the end point in the PY-

axis direction (refer to Fig. 2-(c)).

The point data other than that of the PZ-axis component

matches between the end point in the PX-axis direction and the

end point in the PY-axis direction (refer to Fig. 2-(c)).

Move in parallel toward one of the two

axes other than the PZ-axis, whichever

has the smaller axis number.

* i indicates the axis number for either of the two axes other than the PZ-axis.

End point in PX-axis

direction

Start point

End point in PY-

axis direction

End point

is i+2

xis i+1

xis i

Move in parallel toward

PZ-axis direction

In a planar specification, the palletizing positions

are arranged on the plane determined by the

three points excluding the end point.

End point in planar specification

1 2 ... 317 318 319 320 321 322 323 324 325 326 327 ... 557 558

Commentaires sur ces manuels

Pas de commentaire

Iai-america XSEL-QX Manuel d'utilisateur Page 322

Commentaires sur ces manuels

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