IAI America XSEL-KE - Manual (Page 254)

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Part 4 Commands
(2) Palletizing pattern --- Command: PAPN
Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
7KHHQFLUFOHGQXPEHUVLQGLFDWHWKHRUGHURISDOOHWL]LQJDQGDUHFDOOHG³SDOOHWL]LQJSRVLWLRQ
QXPEHUV´
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 WKH³SUHIHUHQWLDOD[LV 3;D[LV ´ZKLOHWKHRWKHU
GLUHFWLRQFRPSULVLQJWKHSDOOHWL]LQJSODQHLVFDOOHGWKH³3<D[LV´
(3) Palletizing counts --- Command: PAPI
Set the palletizing counts.
3$3,   &RXQWIRUSUHIHUHQWLDOD[LV 3;D[LV &RXQWIRU3<D[LV 
(4) Palletizing position setting
Palletizing position setting is performed mainly by PHWKRG$RU%DVH[SODLQHGEHORZ6HWWKH
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
6HWIURPWKHSDOOHWL]LQJD[HVSDOOHWL]LQJUHIHUHQFHSRLQWDQG
palletizing pitches.
3$6(3$67
PAPT
Pattern 1 Pattern 2
Preferential
D[LV 3;
D[LV
Preferential
D[LV 3;
D[LV
Start point
3<D[LV 3<D[LV
Start point