IAI America TT-C3 - Manual (Page 214)

204
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
z PAST (Set palletizing reference point)
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 PAST
(Position
number)
Prohibited CP
Set the reference point used in palletizing.
If a value is set in operand 1, that position number specified in operand 1 will be used to store the reference
point data.
If no value is set in operand 1, the position-number setting for storing reference point data will become invalid.
This command is used in conjunction with PASE and PAPT.
If this command is not set, coordinates (0, 0) are used as the reference point. If this command is set, the set
coordinates are used as the reference point in calculating the position coordinates of palletizing points.
Coordinates in both the PX and PY-axis directions must always be set as the reference-point coordinates. If a
palletizing movement command such as PMVP or PMVL is executed, however, specification of palletizing Z-
axis (PZ-axis) coordinate is optional. If a Z-axis coordinate is specified, movement in the PZ-axis direction will
become enabled. Even if PZ-axis coordinate is not specified, operation will still be performed
just that the
position will not move in the PZ-axis direction. Note, however, that an error will generate in the following cases:
If this command and PZ-axis are set but the PX, PY and PZ-axes are not set as valid axes in the reference
point data, an error will generate when position coordinates are calculated. If the palletizing Z-axis is not set
and the PX and PY-axes are not set as valid axes in the reference point data, an error will also generate when
position coordinates are calculated. “When position coordinates are calculated” means when PAPG (get
palletizing calculation data) or any palletizing movement command such as PMVP, PMVL or PACH is executed.
If this command is executed before 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.