IAI America XSEL-KX - Manual (Page 232)

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Part 4 Commands
Table 1 Moving Direction of End Point Based on Planar Type Specification
Condition Moving direction of end point
The point data of axis i component matches among the three
points other than the end point. (Refer to Fig. 2-(b).)
Moves in parallel in the direction of axis i.
The point data of all components other than that of PZ-axis
component matches between the start point and end point in
PX-axis direction. (Refer to Fig. 2-(c).)
Moves in parallel in the direction of one of
the two axes other than the PZ-axis,
whichever has the smaller axis number. The point data of all components other than that of PZ-axis
component matches between the start point and end point in
PY-axis direction. (Refer to Fig. 2-(c).)
The point data of all components other than that of PZ-axis
component matches between PX-axis and end point in PY-
axis direction. (Refer to Fig. 2-(c).)
* i represents the axis number of either of the two axes other than the PZ-axis.
• If the valid axis pattern does not match the point data by 3-point teaching or 4-point teaching, an error
“CB0, Mismatched valid axes and palletizing 3-point teaching data” will generate. Note, however, that if
the axes to be used are specified by GRP and then this command is executed, only those specified
axes, among the valid axes of the point data, will be used for palletizing point data. Executing GRP
thereafter in other setting will have no effect on the setting of palletizing point data.
• If R-axis data is set for position Nos. n, n+1 and n+2 (and also n+3 in the case of 4-point teaching),
exclude the R-axis from the valid axes to be specified by GRP (this is not necessary if the R-axis data
fields are blank). Use PEXT to set the R-axis data for palletizing positions.
• If the PZ-axis is already declared, there must be two valid axes in addition to the PZ-axis. If the PZ-axis
is not yet declared, there must be three valid axes. If there are not enough valid axes, 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. If the planar type is specified but the PX-axis is not yet declared, set the number of valid
axes to two. If there are more than two valid axes, an error “CB4: Arch-motion Z-axis non-declaration
error” will generate.
• This command cannot be used with PASE (set palletizing axes). If this command is used with PASE,
the command set later is given priority. (This command substitutes PASE, PAPT or PAST on its own.)
• If this command is executed when BGPA is not yet declared (palletizing setting is not permitted), an
error “CB5, BGPA not declared at palletizing setting” will generate.
• When setting palletizing positions based on 4-point teaching, it is recommended that you specify the
non-planar type if you know that all four points are on a plane and that the palletizing operation in
question will require higher accuracy.
• If the output is specified, it will turn ON after this command is executed.