IAI America XSEL-KET - Manual (Page 254)

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Part 4 Commands
INTELLIGENT ACTUATOR

PARG (Get palletizing angle)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PARG
Palletizing
number
Axis
number
CP
Obtain the palletizing angle.
Calculate the palletizing angle (degrees) from the physical axis specified in operand 2 for the palletizing
number specified in operand 1, and store the result in variable 199.
This command need not be executed, if not necessary.
If this command is executed after PAPS (set 3 palletizing points for teaching) is executed, the angle
formed by the preferential axis and the specified physical axis will be calculated automatically. If this
command is executed before PAPS is executed, or after both PAPS and PASE are executed in this
order, an error will generate.
The axes to be used can be specified with a GRP command before PAPS is executed (refer to the
detailed explanation of PAPS). If the valid axis pattern of the 3-point teaching data does not match, an
error “CB0, Mismatched valid axes and palletizing 3-point teaching data” will generate.
If the number of valid point-data axes (the number of valid axes excluding the PZ-axis, if a palletizing Z-
axis (PZ-axis) has already been declared) is less than two, an error “CAE, Insufficient valid axes for
palletizing 3-point teaching data” will generate. If the number of valid point-data axes is more than two,
an error “CB9, PX/PY-axes indeterminable when obtaining palletizing angle” will generate.
If the axis number specified in operand 2 is neither of the two valid axes in the point data excluding the
PZ-axis, an error “CBA, Reference axis and PX/PY-axes mismatch when obtaining palletizing angle” will
generate.
If the reference point among the three teaching points is the same as the point data at the PX-axis end
point other than the PZ-axis component, an error “Reference point and PX-axis end point identical when
obtaining palletizing angle” will generate, and angle calculation will be disabled.
The actual operating direction may have been reversed depending on the mechanism of the rotating axis
and the setting of axis-specific parameter No. 6, “Operating-direction reversing selection.” To use the
value obtained by this command, be sure to confirm the actual operating direction.
If the output field is specified, the output will turn ON after this command is executed.

PAPG (Get palletizing calculation data)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PAPG
Palletizing
number
Position
number
CP
Store the position coordinate data of the palletizing points for the palletizing number specified in operand
1, in the position number specified in operand 2.
If the output field is specified, the output will turn ON after this command is executed.