IAI America SSEL - Manual (Page 280)

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Part 2 Programs
3. Palletizing Calculation
The items that can be operated or obtained using palletizing calculation commands are shown below:
(1) Palletizing position number Commands --- PSET, PINC, PDEC, PTNG
Number showing the ordinal number of a palletizing point.
(In Fig. 1 given in the explanation of palletizing pattern, the encircled numbers are palletizing position
numbers.)
Always set this command before executing a palletizing movement command --- PSET
For example, executing a palletizing movement command by setting 1 as the palletizing position
number will move the axes to the start point. Executing a palletizing movement command by setting 2
as the palletizing position number will move the axes to the point immediately next to the start point in
the PX-axis direction.
(2) Palletizing angle Command --- PARG
This is the angle formed by the physical axis (actuator) and the preferential palletizing axis (PX-axis)
(
T in the figure below).
In the figure below,
T will become a negative value if axis 1 is used as the reference for angle
calculation.
Fig. 4
With SSEL commands, executing a “get palletizing angle” command following a palletizing setting via
3-point teaching will automatically obtain the palletizing angle.
(3) Palletizing calculation data Command --- PAPG
When a palletizing position number is set, this data refers to the position coordinate data of the
palletizing point corresponding to that palletizing position number.
Note that this position coordinate data does not reflect normal offset or palletizing Z-axis offset.
Physical-axis
direction (axis 2)
Palletizing container
PY-axis
PX-axis
– T direction
+ T direction
T
Physical-axis
direction (axis 1)