Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 271)

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Part 4 Commands

INTELLIGENT ACTUATOR

(7) Palletizing arch-motion setting

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

(b) Palletizing Z-axis offset --- Command: OFPZ

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

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