IAI America TT-C3 - Manual (Page 216)

206
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
z PSLI (Set zigzag)
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 PSLI
Offset
amount
(Count) CP
Set a zigzag palletizing.
The value specified in operand 1 will be set as the offset amount for even-numbered rows.
The count specified in operand 2 will be set as the count for even-numbered rows.
(Refer to (3) “Palletizing Setting” – (d)“Zigzag setting” under "How to Use.")
If operand 2 is not specified, the count for even-numbered rows will become the same as the count for odd-
numbered rows.
If a setting is performed by 3-point teaching with PAPS (set palletizing points), the PX and PY-axes need not
be parallel with the physical axes. In this case, the offset will apply in parallel with the PX-axis. If the offset is a
positive value, the absolute value of offset will be applied toward the end-point direction of the PX-axis. If the
offset is a negative value, the absolute value will be applied toward the start-point direction.
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.