IAI America TT-C3 - Manual (Page 217)

207
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
z PCHZ (Declare palletizing Z-axis) Only when there are at least three axes.
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 PCHZ (Axis number) Prohibited CP
Specify the axis number representing the palletizing Z direction.
The axis number specified in operand 1 will be set as the axis number representing the palletizing Z direction.
If operand 1 is not specified, the specification of palletizing Z-axis that was already declared will become invalid.
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.