IAI America ASEL - Manual (Page 239)

Part 2 Programs
Chapter 3 Explanation of Commands
217
Part 2 Programs
x The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, one
of the following operations will be performed depending on how the arch-trigger point and Z point are
set.
If the resulting operation is undesirable, change the arch trigger and/or Z point to improve the
efficiency of movement.
The table below shows a program and data to cause the actuator to perform arch-motion operation by
moving back and forth along the above path.
Z point
Palletizing start point
Arch trigger point
Palletizing start point
Arch trigger point
Start point End point Start point End point
Position No. 21 Position No. 20