Iai-america XSEL-KX Bedienungsanleitung PDF herunterladen (Seite 283)

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Part 4 Commands

A. 3-point teaching method

To set the palletizing 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 load coordinate system axes and not crossing with each other.

In the example shown below, position data [1][3] and [10] are stored in three continuous position

data fields.

When three points are taught from position No. 11

Position No. 11 [1]: Reference point

Position No. 12 [3]: The end point in the PX-axis direction

Position No. 13 [10]: 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

PEXT

Do no enter anything in the R-axis data column of the position data specified by a PAPS command.

(Alternatively, disable the R-axis using a GRP command.)

Use a PEXT command to set the R-axis coordinate of a given palletizing position.

Preferential axis

(PX-axis)

Start point

(PY-axis)

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.

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Iai-america XSEL-KX Bedienungsanleitung Seite 283