IAI America XSEL-QX - Manual (Page 321)

297
Part 4 Commands
z PAPS (Set palletizing points) For 3-point teaching
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PAPS
Position
number
(Palletizing
position
setting type)
CP
Set palletizing positions for 3-point teaching.
This command can also be used to set palletizing positions for 4-point teaching. In this case, the pallet
surface can be defined as any quadrangle other than square, rectangle or parallelogram.
Specify in operand 1 the start-point position number needed to set a series of palletizing positions for 3-
point teaching. If “n” is set as the start-point position number, point n+1 will represent the end point in the
PX-axis direction and point n+2 will represent the end point in the PY-axis direction.
In the case of 4-point teaching, position data corresponding to the end point must be stored in position No.
n+3.
(Note) Do not use any palletizing setting involving both SCARA and linear movement axes.
If the palletizing setting involves both SCARA and linear movement axes, an “Error No. 421,
SCARA/linear movement axis simultaneous specification error” will generate.
In operand 2, specify a desired palletizing position setting type.
[Palletizing position setting type]
If “0” is set in operand 2 or operand 2 is not specified, the settings will be recognized as those for 3-point
teaching.
The palletizing positions will be arranged on the quadrangular pallet surface determined by the
three points, namely, the start point, end point in the PX-axis direction, and end point in the PY-
axis direction, as shown in Fig. 1-(a).
If “2” is set in operand 2, the settings will be recognized as those for 4-point teaching (non-planar type).
The palletizing positions will be arranged on the quadrangle pallet surface determined by the four
points, namely, the start point, end point in the PX-axis direction, end point in the PY-axis direction,
and end point, as shown in Fig. 1-(b). Take note that whether the shape is planar or not depends
on the end point data.
Fig. 1 shows the arrangements of palletizing positions.
Fig. 1 Arrangements of Palletizing Positions
End point in PX-
axis direction
Preferential axis
(PX-axis)
Start point
PY-axis
PY-axis
End point in PY-
axis direction
(a) 3-point teaching (b) 4-point teaching
End point
End point in PX-
axis direction
Start point
End point in PY-
axis direction
Preferential axis
(PX-axis)