IAI America XSEL-KET - Manual (Page 243)

224
Part 4 Commands
INTELLIGENT ACTUATOR
When the point data other than the PZ-axis component corresponds at two of the three points other than
the end point
(In the above figure, the point data other than the PZ-axis component corresponds at the start point and
end point in PY-axis direction.)

If the valid axis pattern of the 3-point teaching or 4-point teaching data does not match, “CB0:
Mismatched valid axes and palletizing 3-point teaching data” will generate. If this command is executed
after specifying the axes to be used via GRP, however, only the specified axes will be used to provide
palletizing point data among the valid point data axes. The setting will not be affected even if GRP is
executed again based on other setting.

If the PZ-axis is already declared, there must be two valid axes other than the PZ-axis. If no PZ-axis is
declared yet, there must be two or three valid axes. If there are not enough valid axes, “CAE:
Insufficient valid axes for palletizing 3-point teaching data” will generate. If there are too many valid
axes, “CAF: Excessive valid axes for palletizing 3-point teaching data” will generate. If the planar type is
specified but no PZ-axis is declared yet, set two valid axes. If there are more than two valid axes, “CB4:
Arch-motion Z-axis non-declaration error” will generate.
i+2-axis
End point in PY-axis
direction
i+1-axis
Start
point
i-axis
End
point
End point when the planar type is specified
Move in parallel in the i-axis
direction.
The end point moves in parallel in i-axis
direction and palletizing positions are laid out
on the plane determined by the three points
excluding the end point.
End point in PX-axis
direction
Fig. 2- (b)
When the point data of the i-axis component corresponds at the three points other than the end point
i+2-axis
End
point Move in parallel in the i-axis direction.
i+1-axis
End point in PY-axis
direction
End point when the planar type is specified
End point in PX-axis
direction
If the PZ-axis component represents the i+2-axis, the remaining two axes are the i-axis
and i+1-axis, of which the i-axis has a smaller axis number. Accordingly, the end point
moves in parallel in i-axis direction and palletizing positions are laid out on the plane
determined by the three points excluding the end point.
Start
point
i-axis
Fig. 2- (c)