IAI America TT-C3 - Manual (Page 229)

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INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
x The PZ-axis coordinate of the end point will become the PZ-axis component of the position coordinates of the
palletizing point, if any, plus the palletizing Z-axis offset. If there is no PZ component, the PZ-axis coordinate
of the end point will become the PZ-axis coordinate of the start point plus the palletizing Z-axis offset.
(Normally the offset is added to all palletizing positions, such as the arch triggers and Z point.)
x An error will generate if the palletizing start-point arch trigger is set below the start point or the palletizing end-
point arch trigger is set below the end point. (Note: Up/down has nothing to do with +/– on the coordinate
system.)
x The PZ-axis up direction refers to the direction toward the Z point from the start point (the down direction
refers to the opposite direction), and has nothing to do with the size of coordinate value. Therefore, be sure to
confirm the actual operating direction when using this command.
x The PZ-axis will come down after a rise-process command value is output. Therefore, the operation may
follow the locus shown below depending on the settings of palletizing arch-trigger points and Z point:
Fig. 5
In this case, change the palletizing arch triggers and Z point to increase the operation efficiency.
x If palletizing composition is set, axes other than the PX, PY and PZ-axes will also be operated if data is
available for such axes. However, the composite axis will start/end operation at positions above the arch
triggers.
x Executing this command will not increment the palletizing position number by 1.
Z point
Palletizing start-point
arch-trigger point
Palletizing start-point
arch-trigger point
Start point End point Start point End point