IAI America PSEL - Manual (Page 258)

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Part 2 Programs
(2) Palletizing pattern --- Command: PAPN
Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
The encircled numbers indicate the order of palletizing and are called “palletizing position numbers.”
Fig. 1
PAPN 2 When pattern 2 is selected
(Setting is not necessary if pattern 1 is selected.)
The row from 1 to 3 to be placed first is called the “preferential axis (PX-axis),” while the other
direction comprising the palletizing plane is called the “PY-axis.”
(3) Palletizing counts --- Command: PAPI
Set the palletizing counts.
PAPI 3 4 Count for preferential axis (PX-axis): 3, Count for PY-axis: 4
(4) Palletizing position setting
Palletizing position setting is performed mainly by method A or B, as explained below. Set the
palletizing positions for each palletizing setting based on method A or B.
Setting method Commands
A
3-point teaching method
Set three position-data points specifying the palletizing
positions. PAPS
B
Method to set palletizing positions in parallel with the actuators
Set from the palletizing axes, palletizing reference point and
palletizing pitches.
PASE, PAST,
PAPT
Pattern 1 Pattern 2
Preferential
axis
(PX-axis)
Preferential
axis
(PX-axis)
Start point
(PY-axis) (PY-axis)
Start point