IAI America XSEL-KX User Manual
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277
Part 4 Commands
Schematic diagram of palletizing positions based on the above program
(The PX and PY-axes are parallel with Xb and Yb (base coordinates), respectively.)
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
Pitch in PX-axis direction: 40
Pitch in PY-axis direction: 30
Zigzag offset: 20, zigzag count: 4
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 = 90
° (PEXT 202)
28
29
30
31
32
20
Yb direction
40
Xb direction
30
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