IAI America XSEL-QX - Manual (Page 323)

299
Part 4 Commands
Fig. 2-(b)
When the point data of the axis i component matches among all three points excluding the end point
Fig. 2-(c)
When the point data of the two points other than that of the PZ-axis component matches among the
three points excluding the end point (= in the above figure, when the point data other than that of the
PZ-axis component matches between the start point and the end point in the PY-axis direction)
x If the valid axis pattern of the 3-point teaching or 4-point teaching data does not match, an error “CB0,
Mismatched valid axes and palletizing 3-point teaching data” will generate. Take note that if this
command is executed after specifying the axes to be used with a GRP command, only the specified
axes will be used for palletizing position data, among all valid axes with point data. Executing GRP
again thereafter in other settings will not have any effect.
x If a PZ-axis has been declared, the number of valid axes excluding the PZ-axis must be two. If a PZ-
axis has not been declared yet, the number of valid axes excluding the PZ-axis must be two or three. If
the number of valid axes is not sufficient, 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. When a PZ-axis has not yet
been declared in a planar specification, keep the number of valid axes to two. If the number of valid
axes is other than two in this condition, an error, “CB4, Arch-motion Z-axis non-declaration error” will
generate.
End point in PX-
axis direction
Start point
End point in PY-axis
direction
End point
Axis i+2
Axis i+1
Axis i
Move the end point in parallel toward axis i, and the
palletizing positions will be arranged on the plane
determined by the three points excluding the end point.
Move in parallel toward axis i
Start point
Axis i+2
Axis i
Move in parallel toward axis i
Axis i+1
If the PZ-axis component is axis i+2, the remaining two axes
are axis i and axis i+1, of which axis i has the smallest axis
number. Therefore, move the end point in parallel toward axis
i, and the palletizing positions will be arranged on the plane
determined by the three points excluding the end point.
End point in planar specification
End point in PX-axis
direction
End point in PY-axis
direction
End point
End point in planar specification