IAI America XSEL-QX - Manual (Page 388)

364
Part 4 Commands
(7) Palletizing arch-motion setting
(a) Palletizing Z-direction axis number --- Command: PCHZ (Dedicated SCARA command)
(b) Palletizing Z-axis offset ---
Command: OFPZ (Dedicated SCARA command)
(c) Palletizing composition --- Command: PEXT (Dedicated SCARA command)
Composition data refers to position data of any additional axis you wish to use with
palletizing movement commands, other than the PX, PY (and PZ)-axes. Use a PEXT
command to set the R-axis position coordinates of a given palletizing position.
Note that operation of the composite axis will start and end above the palletizing arch
triggers.
In a palletizing-composition setting command, specify a position number storing palletizing
composition data.
(d) Palletizing arch triggers --- Command: PTRG (Dedicated SCARA command)
If the end point is a palletizing point, a palletizing arch trigger must be set just like an arch
trigger.
In a palletizing arch-trigger setting command, specify position numbers storing palletizing
arch-trigger coordinate data.
(d-1) Palletizing start-point arch trigger
(d-2) Palletizing end-point arch trigger