IAI PSEL, Operation Manual

Page: 922 / 1062

[20] Arch-Motion
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* When the operation is resumed after a pause, depending on the position where the
operation is resumed the locus may follow the lines (dotted lines) indicated by asterisks in
the diagram for the composite section from ascent to horizontal movement or from
horizontal movement to descent. Be careful not to cause interference.
x
The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis
component of the point data specified in operand 1, if any, plus the arch-motion Z-axis
offset. If there is no arch-motion Z component, the arch-motion Z-axis coordinate of the end
point will become the arch-motion Z-axis coordinate of the start point plus the arch-motion
Z-axis offset. (Normally the offset is added to all arch-motion positions, such as the arch
triggers and Z point.)
x
An error will generate if the start-point arch trigger is set below the start point or the
end-point arch trigger is set below the end point. (Note: Up/down has nothing to do with +/-
on the coordinate system.)
x
The arch-motion Z-axis up direction refers to the direction toward the Z point from the start
point (the down direction refers to the opposite direction), and has nothing to do with the
size of coordinate value. Therefore, be sure to confirm the actual operating direction when
using this command.
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.
x
As for the arch-trigger end position data, movement also starts/ends above the applicable
arch trigger for any effective axis, other than the arch motion Z-axis, if data of such axis is
included in the position data.
x
If the end position data includes R-axis data, movement of the R-axis starts/ends above the
applicable arch trigger.
x
If a composite arch trigger motion is set, a given effective axis, other than the arch motion
Z-axis, also moves if data of such axis is included in the end point data. In this case,
movement of the axis also starts/ends above the applicable arch trigger.
Z point
Palletizing start point
Arch trigger point
Palletizing start point
Arch trigger point
Start point End point Start point End point