IAI America XSEL-KX - Manual (Page 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 11
PEXT 14
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.