IAI America XSEL-KX - Manual (Page 231)

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Part 4 Commands
(a) Standard
(b) When the point data of axis i component matches among the three points other than the end point
(c) When the point data of all components other than that of PZ-axis component matches between two of
the three points other than the end point
(In the figure above, the point data of all components other than that of PZ-axis component matches
between the start point and end point in PY-axis direction.)
Fig. 2 Arrangement of Palletizing Positions (Planar Type)
Axis i+2
Axis i
Moves in parallel in the PZ-axis direction.
End point when the planar type is specified
When the planar type is specified, palletizing
potions are arranged on the plane
determined by the three points other than the
end point.
End
point
End point in PX-axis
direction
End point in PY-axis
direction
Start
point
Axis i+1
End
point
End point in PX-axis
direction
Moves in parallel in the i-axis direction.
End point when the planar type is specified End point in PY-axis
direction
Start
point
Start
point
End
point
End point in PX-axis
direction
End point in PY-axis
direction
End point when the planar type is specified
Moves in parallel in the i-axis direction.
The end point moves in parallel in the direction of axis i, and
palletizing positions are arranged on the plane determined by the
three points other than the end point.
If the PZ-axis component corresponds to axis i+2, the remaining two axes
become axis i and axis i+1, of which the axis of the smaller axis number is
axis i. Accordingly, the end point moves in parallel in the direction of axis i,
and palletizing positions are arranged on the plane determined by the three
points other than the end point.
Axis i+2
Axis i
Axis i+1
Axis i+2
Axis i
Axis i+1