Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 323)

299

Part 4 Commands

Fig. 2-(b)

When the point data of the axis i component matches among all three points excluding the end point

Fig. 2-(c)

When the point data of the two points other than that of the PZ-axis component matches among the

three points excluding the end point (= in the above figure, when 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)

x If the valid axis pattern of the 3-point teaching or 4-point teaching data does not match, an error “CB0,

Mismatched valid axes and palletizing 3-point teaching data” will generate. Take note that if this

command is executed after specifying the axes to be used with a GRP command, only the specified

axes will be used for palletizing position data, among all valid axes with point data. Executing GRP

again thereafter in other settings will not have any effect.

x If a PZ-axis has been declared, the number of valid axes excluding the PZ-axis must be two. If a PZ-

axis has not been declared yet, the number of valid axes excluding the PZ-axis must be two or three. If

the number of valid axes is not sufficient, an error “CAE, Insufficient valid axes for palletizing 3-point

teaching data” will generate. If there are too many valid axes, on the other hand, an error, “CAF,

Excessive valid axes for palletizing 3-point teaching data” will generate. When a PZ-axis has not yet

been declared in a planar specification, keep the number of valid axes to two. If the number of valid

axes is other than two in this condition, an error, “CB4, Arch-motion Z-axis non-declaration error” will

generate.

End point in PX-

axis direction

Start point

End point in PY-axis

direction

End point

xis i+2

xis i+1

xis i

Move the end point in parallel toward axis i, and the

palletizing positions will be arranged on the plane

determined by the three points excluding the end point.

Move in parallel toward axis i

Start point

xis i+2

xis i

Move in parallel toward axis i

xis i+1

If the PZ-axis component is axis i+2, the remaining two axes

are axis i and axis i+1, of which axis i has the smallest axis

number. Therefore, move the end point in parallel toward axis

i, and the palletizing positions will be arranged on the plane

determined by the three points excluding the end point.

End point in planar specification

End point in PX-axis

direction

End point in PY-axis

direction

End point

End point in planar specification

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Iai-america XSEL-QX Manuel d'utilisateur Page 323

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