IAI America XSEL-KE - Manual (Page 227)

212
Part 4 Commands
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
Prohibited CP
Set palletizing positions using 3-point teaching.
In main application version 0.93 or later, palletizing position setting by 4-point teaching is supported.
To be specific, the pallet surface can be set as a quadrangle other than square, rectangle and
parallelogram.
Note) 4-point teaching is not supported by the flash ROM 8-Mbit version.
In operand 1, specify the position number to be used as the start point, which is needed to set palletizing
positions by 3-point teaching. If n is set as the position number of the start point, the position data at the
end point in PX-axis direction will be stored in position No. n+1, and the position data at the end point in
PY-axis direction will be set in position No. n+2.
In the case of 4-point teaching, the position data at the end point must also be stored in position No. n+3.
In main application version 0.93 or later, specify the palletizing position setting type in operand 2.
Note) If operand 2 is specified in the flash ROM
0ELWYHUVLRQ³& 6(/XQVXSSRUWHGIXQFWLRQ
HUURU´ZLOOJHQHUDWH 
[Palletizing position setting type]
,IRSHUDQGLV³´RUQRWVSHFLILHGSRLQWWHDFKLQJZLOOEHDSSOLHGWRWKHSRVLWLRQVHWWLQJ 
As shown in Fig. 1(a), arrange the palletizing positions on the quadrangular pallet surface
determined by three points including the start point, end point in PX-axis direction and end point
in PY-axis direction.
,I³´VVSHFLILHGLQRSHUDQGSRLQWWHDFKLQJ QRQ-planar type) will be applied to the position setting.
As shown in Fig. 1(b), arrange the palletizing positions on the quadrangular pallet surface
determined by four points including the start point, end point in PX-axis direction, end point in PY-
axis direction and end point. Note that whether the shape is planar or not depends on the point
data at the end point.
Fig. 1 shows the arrangement of palletizing positions.
Priority axis
(PX-axis)
(a) 3-point teaching
End point in
PX-axis direction
Start point
End point in
PY-axis direction
PY-axis
End point in
PX-axis direction
Priority axis
(PX-axis)
Start point
PY-axis
End point in
PY-axis direction
End point
(b) 4-point teaching
Fig. 1 Arrangement of Palletizing Positions