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IAI America SSEL User Manual

Page 278

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Part 2 Programs

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

See two axes for PX-axis and one axis for PY-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

45

30

Teach position data No. 100.

Axis 1

PY-axis direction pitch