IAI PSEL, Operation Manual

Page: 656 / 1062

3. Program
162
[Zigzag setting ................ Command: PSLI]
Use a PSLI command to set a zigzag layout as shown below.
Zigzag offset:
Offset amount in the preferential-axis direction, which will be applied
when even-numbered rows are placed.
“Even-numbered rows” refer to the rows occurring at the even numbers
based on the row placed first representing the first row.
Zigzag count: Number in the even-numbered rows. Two in the diagram below.
[Arch motion setting]
(a) Arch motion Z-axis No. ......................... Applicable command: ACHZ
x
In the case of a SCARA robot, you only need to specify the Z-axis (axis 3) to perform arch
motion.
ACHZ 3
(b) Arch motion Z-axis offset ...................... Applicable command: OFAZ
(c) Composite arch motion ......................... Applicable command: AEXT
Composite arch motion data refers to position data used when you want to cause any axis
other than the effective axis at the end point or arch motion Z-axis to perform an additional
operation (such as when setting a rotational angle).
Note, however, that any composite axis operation starts and ends at a position above the
applicable arch trigger.
Set this composite arch motion setting command by specifying a position number under
which composite arch motion data is set.
(d) Arch trigger ........................................... Applicable command: ATRG
The following arch trigger settings are available for arch motion.
Set this arch trigger setting command by specifying a position number under which arch
trigger coordinate data is stored.
(d-1) Start-point arch trigger
Specify the position to be reached after the arch motion is started from the start
point and the actuator moves in the arch motion Z-axis coordinate direction, after
which the actuator will start moving in the direction of other axis. Start-point arch
trigger = Z1
(d-2) End-point arch trigger
Specify the position to be reached in the arch-motion Z-axis coordinate direction
during the arch motion down movement, after which the actuator will end moving in
the direction of other axis. End-point arch trigger = Z3
Preferential
axis
(PX-axis)
Offset
Odd-numbered
row
(PY-axis)
Even-numbered
row
Top point (X2, Y2, Z2)
Start point (X0, Y0, Z0)
End point (X4, Y4, Z4)
(X1, Y1, Z1) (X3, Y3, Z3)