Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 339)

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Part 4 Commands

z ARCH (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 ARCH

Position

number

Position

number

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

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

x Movements in directions other than the arch-motion Z-axis direction will begin after rising from the

current point to the start-point arch trigger. After the Z point specified in operand 2 (as the highest

point) is passed and movements in directions other than the arch-motion Z-axis direction are

complete, the axes will pass near the end-point arch trigger and reach the specified point.

x Palletizing arch triggers must be set using an ATRG command.

(Note) If the specified palletizing setting involves both SCARA and linear movement axes, an

“Error No. 421, SCARA/linear movement axis simultaneous specification error” will

generate.

In an arch-motion setting, make sure all operating axes are SCARA axes or all are linear

movement axes.

ACHZ 3

ATRG 13 11

ARCH 10 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.

x The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis component of

the point data specified in operand 1, if any, plus the arch-motion Z-axis offset. If there is no arch-

motion Z component, the arch-motion Z-axis coordinate of the end point will become the arch-motion

Z-axis coordinate of the start point plus the arch-motion Z-axis offset. (Normally the offset is added to

all arch-motion positions, such as the arch triggers and Z point.)

x An error will generate if the start-point arch trigger is set below the start point or the end-point arch

trigger is set below the end point. (Note: Up/down has nothing to do with +/– on the coordinate

system.)

x The arch-motion Z-axis up direction refers to the direction toward the Z point from the start point (the

down direction refers to the opposite direction), and has nothing to do with the size of coordinate

value. Therefore, be sure to confirm the actual operating direction when using this command.

Highest point of arch

motion

* *

Start-point arch trigge

Position No. 13

End-point arch trigger

Position No. 11

Start point End point

Position No. 10

1 2 ... 334 335 336 337 338 339 340 341 342 343 344 ... 557 558

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Iai-america XSEL-QX Manuel d'utilisateur Page 339

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