IAI America XSEL-KE - Manual (Page 228)

213
Part 4 Commands
x When setting palletizing positions by 4-point teaching, it is recommended that the non-planar type
specification be used if you know all four points are on a plane and if palletizing precision is required.
,I³´LVVSHFLILHGLQRSHUDQGSRLQWWHDFKLQJ Slanar type) will be applied to the position setting.
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The plane is determined by three points including the start point, end point in PX-axis direction
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direction) and use the intersecting point with the aforementioned plane as the end point of non-
planar palletizing.
The palletizing positions are arranged to the pallet surface of the quadrate shape which is
determined by these four points.
Take note, however, that if the three points other than the end point meet the conditions shown in
Table 1, the moving direction of the end point will vary. This occurs when the plane determined
by three points other than the end point is vertical to the ground, because in this case moving the
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the aforementioned plane.
Table 1 Moving Direction of End Point Based on Planar Type Specification
Condition Moving direction of end point
The point data of the i-axis component is the same
at all three points other than the end point.
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Move in parallel in the i-axis direction.
All point data other than the PZ-axis component is
the same between the start point and end point in
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All point data other than the PZ-axis component is
the same between the start point and end point in
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All point data other than the PZ-axis component is
the same between the end point in PX-axis direction
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 F 
Move in parallel in the direction of either of the two
axes other than the PZ-axis, whichever has the
smaller axis number.
End point in
PX-axis direction
Start point
End point in
PY-axis direction
i+2-axis
i-axis
End point
Move in parallel in the
PZ-axis direction.
End point based on planar type specification
If the planar type is specified, palletizing positions
are arranged on the plane determined by three
points other than the end point.
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* i indicates the axis number of either of the two axes
other than the PZ-axis.