IAI America TT-C3 - Manual (Page 226)

216
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
1-22 Palletizing Movement Command
z PMVP (Move to palletizing points via PTP)
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 PMVP
Palletizing
number
(Position
number)
PE
Move to the calculated palletizing points via PTP.
The axes will move to the palletizing points specified in operand 1, via PTP.
If the palletizing points are valid only for the PX/PY-axes (when palletizing Z-axis (PZ-axis) is not specified,
etc.), movement in directions other than the PX/PY-axis directions will not be performed. If the PZ-axis
coordinates of the palletizing points are also valid, movement in the PZ-axis direction will also be performed.
However, if a position number is specified in operand 2, the PZ-direction position will move to the height of the
specified position number by ignoring the palletizing calculation (only when three or more axes are available).
Any data other than PZ-axis data contained in the position number specified in operand 2 will be ignored.
Absence of Z-axis data will be handled as an error.
If palletizing composition is set, any axes other than the PX, PY (and PZ)-axes will also be operated if data is
available for such axes.
Executing this command will not increment the palletizing position number by 1.
Before specifying operand 2, a palletizing Z-axis must have been declared (PCHZ) in the palletizing setting.
If palletizing Z-axis has not been declared, an error will generate.