Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 243)

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Part 4 Commands

z PACH (Palletizing-point arch motion)

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 PACH

Palletizing

number

Position

number

Perform arch motion from the current point and move to the palletizing points.

x Move to the palletizing points specified in operand 1, via arch motion.

x Movements in the PX/PY-axis directions will begin after rising from the current point to the palletizing

start-point arch trigger. After the Z point specified in operand 2 (as the highest point) is passed and

movements in the PX/PY-axis directions are complete, the axes will pass near the palletizing end-point

arch trigger and reach the calculated palletizing point.

x Palletizing arch triggers must have been set using a PTRG command.

PCHZ 3

PTRG 11 13

PACH 1 12

* When the operation is resumed after a pause, depending on the position where the operation is

resumed the locus may follow the lines (dotted lines) indicated by asterisks in the diagram for the

composite section from ascent to horizontal movement or from horizontal movement to descent. Be

careful not to cause interference.

Highest point of palletizing arch motion

Position No. 12

* *

Start point

End point

Palletizing No. 1

Palletizing start-point arch trigger

Position No. 11

Palletizing end-point arch trigger

Position No. 13

1 2 ... 238 239 240 241 242 243 244 245 246 247 248 ... 423 424

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Iai-america XSEL-KE Manuel d'utilisateur Page 243

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