IAI America TT-C3 - Manual (Page 240)

230
INTELLIGENT ACTUATOR
Chapter 4 Commands
4.
Palletizing
Function
B. Method to set palletizing positions in parallel with the actuators
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.
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 as the preferential axis (PX-axis) and axis 1 as the
axis perpendicular to the preferential axis.
(Note) When the above palletizing axes, palletizing pitches and palletizing reference point are
used, the PX-axis and PY-axis must be parallel with the actuators and crossing with each
other.
Select either method A or B for each palletizing setting.
A
xis 2
PX-axis dir
ecti
on pitch
Teach position data No. 100.
PY-axis direction pitch