Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 245)

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Part 4 Commands

INTELLIGENT ACTUATOR

 PSLI (Set zigzag)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional PSLI

Offset

amount

(Count) CP

Set a zigzag palletizing.

The value specified in operand 1 will be set as the offset amount for even-numbered rows.

The count specified in operand 2 will be set as the count for even-numbered rows.

(Refer to “Palletizing Setting” – “Zigzag setting” under "How to Use.")

If operand 2 is not specified, the count for even-numbered rows will become the same as the count for

odd-numbered rows.

If a setting is performed by 3-point teaching with PAPS (set palletizing points), the PX and PY-axes need

not be parallel with the physical axes. In this case, the offset will apply in parallel with the PX-axis. If the

offset is a positive value, the absolute value of offset will be applied toward the end-point direction of the

PX-axis. If the offset is a negative value, the absolute value will be applied toward the start-point

direction.

If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an

error will generate.

If the output field is specified, the output will turn ON after this command is executed.

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