IAI America ASEL - Manual (Page 252)

Part 2 Programs
Chapter 3 Explanation of Commands
230
Part 2 Programs
z 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.
If point data is not available for two valid axes, an error “CAE, Insufficient valid axes for palletizing 3-
point teaching data” will generate.
If the axis corresponding to the axis number in operand 2 does not specify one of the two valid axes
associated with the point data, an error “CBA, Reference-axis/PX/PY-axis mismatch error at palletizing
angle acquisition” will generate.
If the reference point data is the same as the point data at the PX-axis end point in 3-point teaching, an
error “Reference-point/PX-axis end point duplication error at palletizing angle acquisition” 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.
z 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.