IAI America TT-C3 - Manual (Page 244)

234
INTELLIGENT ACTUATOR
Chapter 4 Commands
4.
Palletizing
Function
4.4 Palletizing Movement
Palletizing movement commands include those used to move to a palletizing point and one used to move to
an end point specified by position data.
(1) Movement commands to palletizing point --- PMVP, PMVL, PACH
Position coordinates of a two-dimensionally or three-dimensionally placed palletizing point are calculated
and movement is performed using the calculated point as the end point. (The axes will move to the
palletizing point of the palletizing position number specified in the executed command.)
Two actuator axes will be required to comprise a two-dimensional plane. If a vertical axis (PZ-axis) is
required, another axis must be set.
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.
PACH: Move from the current position to a palletizing point via arch motion.
Palletizing arch motion must be set in a palletizing setting.
PCHZ 3
PTRG 11
13
PACH 1 12
Start point
Highest point of arch motion
Position No. 12
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
End point
Position No. 10