Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 327)

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Part 4 Commands

z PTRG (Dedicated SCARA command: Set palletizing arch triggers)

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 PTRG

Position

number

Position

number

Set the arch triggers to be used for arch motion along the palletizing points.

(This setting becomes valid when a PACH command is executed.)

Set the PZ-axis (palletizing Z-axis) position data in the point data specified in operand 1 as the palletizing

start-point arch trigger, and set the PZ-axis position data in the point data specified in operand 2 as the

palletizing end-point arch trigger.

PTRG 11 13

(Refer to “Palletizing Setting” – “Palletizing arch triggers” under "How to Use.")

As for the point data, the PZ-axis data specified by a PCHZ command must be valid.

For an arch-motion operation along the palletizing points, set it so that a horizontal movement will begin

when the start-point arch trigger is reached during ascent from the start point, and that the end-point arch

trigger will be reached after a horizontal movement is completed during descent.

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.

Palletizing start-point arch trigger

Position No. 11

Palletizing end-point arch trigger

Position No. 13

Start point

End point

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Iai-america XSEL-QX Manuel d'utilisateur Page 327

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