IAI America XSEL-KX - Manual (Page 284)

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Part 4 Commands
B. Method to set palletizing positions in parallel with the load coordinate system axes
Palletizing reference point: Store the position data of the start point (palletizing position No. 1) in a
position data field and specify the applicable position number using a
PAST command, as shown below.
Use a PEXT command to set the R-axis coordinate of a given palletizing
position.
Palletizing pitches: Use a PAPT command to specify the pitches in the PX-axis and PY-axis
directions.
Palletizing axes: Use a PASE command to specify the two axes, one representing the
PX-axis direction and the other representing the PY-axis direction, to be
used in palletizing.
(An actuator axis number parallel with the preferential axis (PX-axis) and another perpendicular to
the preferential axis)
PAST 100 Teach position data No. 100 as the start point.
PAPT 45 30 The PX-axis direction pitch is 45 mm and the PY-axis direction
pitch is 30 mm.
PASE 2 1 Set axis 2 (Y-axis) as the preferential axis (PX-axis) and axis 1
(X-axis) as the axis perpendicular to the preferential axis.
(Note) When the palletizing axes, palletizing pitches and palletizing reference point are
used, the PX-axis and PY-axis must be parallel with the load coordinate system axes
and crossing with each other. In the example shown above, load coordinate system
No. 0 (base coordinate system) is selected.
Select either method A or B for each palletizing setting.
PX
-ax
is
di
rec
ti
on
pi
tc
h
45
30
Teach position data No. 100.
Xb
PY-axis direction pitch
Yb