beautypg.com

IAI America TT-C3 User Manual

Page 242

background image

232

INTELLIGENT ACTUATOR

Chapter 4 Commands

4.

Palletizing

Function

(7) Palletizing arch-motion setting

(a) Palletizing Z-direction axis number --- Command: PCHZ
(b) Palletizing Z-axis offset ---

Command: OFPZ

(c) Palletizing composition ---

Command: PEXT

Composition data refers to position data of any additional axis you wish to use with palletizing
movement commands, other than the PX, PY (and PZ)-axes. Examples include rotation angle.
Note that operation of the composite axis will start and end above the palletizing arch triggers.
In a palletizing-composition setting command, specify a position number storing palletizing
composition data.

(d) Palletizing arch triggers --- Command: PTRG

If the end point is a palletizing point, a palletizing arch trigger must be set just like an arch trigger.
In a palletizing arch-trigger setting command, specify position numbers storing palletizing arch-
trigger coordinate data.
(d-1) Palletizing start-point arch trigger
(d-2) Palletizing end-point arch trigger

This manual is related to the following products: