IAI America ASEL - Manual (Page 266)

Part 2 Programs
Chapter 5 Palletizing Function (2-axis Specification)
244
Part 2 Programs
B. Method to set palletizing positions in parallel with the actuators
Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a
position data field and specify the applicable position number using a
PAST command, as shown below.
Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-axis
directions.
Palletizing axes: Use a PASE command to specify the two axes, one representing the PX-axis
direction and the other representing the PY-axis direction, to be used in palletizing.
(An actuator axis number parallel with the preferential axis (PX-axis) and another perpendicular to
the preferential axis)
PAST 100 Teach position data No. 100 as the start point.
PAPT 45 30 The PX-axis direction pitch is 45 mm and the PY-axis direction
pitch is 30 mm.
PASE 2 1 Set the PX-axis as axis 2 and PY-axis as axis 1.
(Note) When the above palletizing axes, palletizing pitches and palletizing reference point
are used, the PX-axis and PY-axis must be parallel with the actuators and crossing
with each other.
Select either method A or B for each palletizing setting.
A
xi
s
2
P
X
-a
xi
s
di
re
ct
io
n
pi
tc
h
45
30
Teach position data No. 100.
Axis 1
PY-axis direction pitch