IAI America ASEL - Manual (Page 247)

Part 2 Programs
Chapter 3 Explanation of Commands
225
Part 2 Programs
z PAPS (Set palletizing points) For 3-point teaching
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 PAPS
Position
number
(Palletizing
position
setting type)
CP
Set palletizing positions in 3-point teaching.
It can also be used to set palletizing positions in 4-point teaching, in which case the pallet plane can be
set to any quadrilateral other than a square, rectangle or parallelogram.
In operand 1, set the position number of the start point needed to set palletizing positions in 3-point
teaching. If “n” is set as the position number for the start point, position data for the end point in the PX-
axis direction will be stored in position No. n+1, while position data for the end point in the PY-axis
direction will be stored in position No. n+2.
In the case of 4-point teaching, position data for the end point should be stored in position No. n+3.
In operand 2, specify the applicable palletizing position setting type.
[Palletizing position setting type]
If operand 2 is “0” or blank, 3-point teaching will be specified.
As shown in Fig. 1 (a), palletizing positions will be set on the quadrilateral pallet plane determined by the
three points including the start point, end point in the PX-axis direction and end point in the PY-axis
direction.
If operand 2 is “2,” 4-point teaching will be specified.
As shown in Fig. 1 (b), palletizing positions will be set on the quadrilateral pallet plane determined by the
four points including the start point, end point in the PX-axis direction, end point in the PY-axis direction,
and end point.
Fig. 1 shows two different arrangements of palletizing positions.
(a) 3-point teaching (b) 4-point teaching
Fig. 1 Layout of Palletizing Positions
End point in PX-axis direction
Preferential axis
(PX-axis)
Start point
PY-axis
End point in PY-axis
direction
End point
End point in PX-axis direction
Preferential axis
(PX-axis)
Start point
PY-axis
End point in PY-axis
direction