IAI America XSEL-QX - Manual (Page 336)

312
Part 4 Commands
z PMVL (Dedicated linear movement axis command: Move to palletizing points via interpolation)
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 PMVL
Palletizing
number
Prohibited PE
Move to the calculated palletizing points via interpolation.
The axes will move to the palletizing points specified in operand 1, via interpolation.
Executing this command will not increment the palletizing position number by 1.
(Note) If the specified palletizing setting involves any SCARA-axis operation, an “Error No. B80,
Specification-prohibited axis error” or “Error No. 421, SCARA/linear movement axis
simultaneous specification error” will generate. When setting palletizing for any PMVL
movement, make sure all operating axes are linear movement axes.