IAI America XSEL-QX - Manual (Page 326)

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Part 4 Commands
z PCHZ (Dedicated SCARA command: Declare palletizing Z-axis)
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 PCHZ
(Axis
number)
Prohibited CP
Specify the axis number representing the palletizing Z direction.
The axis number specified in operand 1 will be set as the axis number representing the palletizing Z
direction.
If operand 1 is not specified, the specification of palletizing Z-axis that was already declared will become
invalid.
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.
(Note 1) The palletizing Z-axis can be specified only as the Z-axis on the load coordinate system
(axis No. 3).
The palletizing Z-axis cannot be set when setting palletizing using any linear movement
axis.
[Example] PCHZ 3