Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 242)

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Part 4 Commands

INTELLIGENT ACTUATOR

 When setting palletizing positions via 4-point teaching, it is recommended that the non-planar type be

specified if all four points are known to be on the plane and high palletizing precision is required.

If operand 2 is set to 1, the setting for 4-point teaching (planar type) becomes effective.

Fig. 2_(a)

The plane is determined by the three points of start point, end point in PX-axis direction, end point in PY-

axis direction. Move the end point in parallel in the PZ direction (vertical direction) and define the point of

intersection with the aforementioned plane as the end point for this type.

Lay out palletizing positions on the quadrangular pallet plane determined by these four points.

Take note, however, that the moving direction of the end point varies if the three points other than the end

point meet the conditions shown in Table 1. In each case, it is assumed that the plane determined by the

three points other than the end point is vertical to the ground. The moving direction is different in these

cases, because even when the end point is moved in parallel in the PZ direction (vertical direction), the

end point will not intersect with the aforementioned plane.

Table 1 Moving Directions of End Point When Planar Type Is Specified

Condition Moving direction of end point

The point data of the i-axis component corresponds at the

three points other than the end point. (Refer to Fig. 2-(b).)

Move in parallel in the i-axis direction

The point data other than the PZ-axis component

corresponds at the start point and end point in PX-axis

direction. (Refer to Fig. 2-(c).)

The point data other than the PZ-axis component

corresponds at the start point and end point in PY-axis

direction. (Refer to Fig. 2-(c).)

The point data other than the PZ-axis component

corresponds at the end point in PX-axis direction and end

point in PY-axis direction. (Refer to Fig. 2-(c).)

Move in parallel in the direction of either of

the two axes other than the PZ-axis,

whichever has a smaller axis number.

* i indicates the axis number of either of the two axes other than the PZ-axis.

i+2-axis

End point in PX-axis

direction

i+1-axis

Start

point

i-axis

End

point

End point when the planar type is specified

Move in parallel in the PZ-axis direction.

When the planar type is specified, palletizing

positions are laid out on the plane determined

by the three points excluding the end point.

End point in PY-axis

direction

Fig. 2- (a)

1 2 ... 237 238 239 240 241 242 243 244 245 246 247 ... 435 436

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