IAI America XSEL-KE - Manual (Page 229)

214
Part 4 Commands
x If the valid axis pattern for 3-point or 4-point WHDFKLQJSRLQWGDWDGRHVQRWPDWFK³&% 0LVPDWFKHG
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x ,IWKH3=D[LVLVDOUHDG\GHFODUHGWKHUHPXVWEHWZo valid axes other than the PZ-axis. If a PZ-axis is
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Insufficient valid axes for palletizi
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is specified but the PZ-axis is not declared yet, set
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PY-axis direction
i+2-axis
i-axis
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Start point
i-axis
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i-axis direction.
i+1-axis
The end point moves in parallel in the i-axis direction and
palletizing positions are arranged on the plane determined by
three points other than the end point.
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When the point data of the i-axis component is the same at all three points other than the end point
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PY-axis direction
i+2-axis
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i-axis direction.
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Start point
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PX-axis direction
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palletizing positions are arranged on the plane determined by three points
other than the end point.
i+1-axis
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When all point data other than the PZ-axis compone QWLVWKHVDPHEHWZHHQWZRRIWKHWKUHHSRLQWV
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PX-axis direction