IAI America XSEL-KET - Manual (Page 242)

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Part 4 Commands
INTELLIGENT ACTUATOR
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When setting palletizing positions via 4-point teaching, it is recommended that the non-planar type be
specified if all four points are known to be on the plane and high palletizing precision is required.
If operand 2 is set to 1, the setting for 4-point teaching (planar type) becomes effective.
Fig. 2_(a)
The plane is determined by the three points of start point, end point in PX-axis direction, end point in PY-
axis direction. Move the end point in parallel in the PZ direction (vertical direction) and define the point of
intersection with the aforementioned plane as the end point for this type.
Lay out palletizing positions on the quadrangular pallet plane determined by these four points.
Take note, however, that the moving direction of the end point varies if the three points other than the end
point meet the conditions shown in Table 1. In each case, it is assumed that the plane determined by the
three points other than the end point is vertical to the ground. The moving direction is different in these
cases, because even when the end point is moved in parallel in the PZ direction (vertical direction), the
end point will not intersect with the aforementioned plane.
Table 1 Moving Directions of End Point When Planar Type Is Specified
Condition Moving direction of end point
The point data of the i-axis component corresponds at the
three points other than the end point. (Refer to Fig. 2-(b).)
Move in parallel in the i-axis direction
The point data other than the PZ-axis component
corresponds at the start point and end point in PX-axis
direction. (Refer to Fig. 2-(c).)
The point data other than the PZ-axis component
corresponds at the start point and end point in PY-axis
direction. (Refer to Fig. 2-(c).)
The point data other than the PZ-axis component
corresponds at the end point in PX-axis direction and end
point in PY-axis direction. (Refer to Fig. 2-(c).)
Move in parallel in the direction of either of
the two axes other than the PZ-axis,
whichever has a smaller axis number.
* i indicates the axis number of either of the two axes other than the PZ-axis.
i+2-axis
End point in PX-axis
direction
i+1-axis
Start
point
i-axis
End
point
End point when the planar type is specified
Move in parallel in the PZ-axis direction.
When the planar type is specified, palletizing
positions are laid out on the plane determined
by the three points excluding the end point.
End point in PY-axis
direction
Fig. 2- (a)