IAI America XSEL-KX - Manual (Page 291)

275
Part 4 Commands
Schematic diagram of palletizing positions based on the above program
The number shown at top right of each cycle indicates the corresponding palletizing position number.
Count in PX-axis direction = 5, count in PY-axis direction = 7
Zigzag offset: 20, zigzag count: 4
PY-axis end-point coordinate position No. 103
(138, 343, 179, empty field)
Actual positioning coordinates
Xb = 138, Yb = 343, Zb = 184 (OFPZ 5)
Rb = 105
° (PEXT 104)
Top view of R-axis
position
D-cut surface
105
°
Xb
PY-axis
PX-axis
Reference-point position No. 101 (185, 170,
180, empty field)
Actual positioning coordinates
Xb = 185, Yb = 170, Zb = 185 (OFPZ 5)
Rb = 105
° (PEXT 104)
Preferential-axis (PX-axis) end-point
coordinate position No. 102 (340, 211, 181,
empty field)
Actual positioning coordinates
Xb = 340, Yb = 211, Zb = 186 (OFPZ 5)
Rb = 105
° (PEXT 104)
28
29
30
31
32
24
25
26
27
19
20
21
22
23
15
16
17
18
10
11
12
13
14
6
7
8
9
1
2
3
4
5
20