IAI America XSEL-QX - Manual (Page 337)

313
Part 4 Commands
z PACH (Dedicated SCARA command)
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
PE
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.
(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.
When setting palletizing where the palletizing points define an arch-motion movement,
make sure all operating axes are SCARA axes.
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