IAI America SSEL User Manual

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Part 2 Programs

(2) Palletizing pattern --- Command: PAPN

Select a pattern indicating the palletizing order.
The two patterns illustrated below are available.
The encircled numbers indicate the order of palletizing and are called “palletizing position
numbers.”

Fig. 1

PAPN

When pattern 2 is selected

(Setting is not necessary if pattern 1 is selected.)

The row from 1 to 3 to be placed first is called the “preferential axis (PX-axis),” while the other
direction comprising the palletizing plane is called the “PY-axis.”

(3) Palletizing counts --- Command: PAPI

Set the palletizing counts.

PAPI

Count for preferential axis (PX-axis): 3, Count for PY-axis: 4

(4) Palletizing position setting

Palletizing position setting is performed mainly by method A or B, as explained below. Set the
palletizing positions for each palletizing setting based on method A or B.

Setting method

Commands

3-point teaching method

Set three position-data points specifying the palletizing
positions.

PAPS

Method to set palletizing positions in parallel with the actuators

Set from the palletizing axes, palletizing reference point and
palletizing pitches.

PASE, PAST,

PAPT

Pattern 1

Pattern 2

Preferential

axis

(PX-axis)

Preferential

axis

(PX-axis)

Start

point

(PY-axis)

Start

point