IAI America XSEL-KET - Manual (Page 273)

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Part 4 Commands
INTELLIGENT ACTUATOR
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
Highest point of arch motion
Position No. 12
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
Start point End point
Position No. 10