IAI PSEL, Operation Manual

Page: 939 / 1062

[21] Palletizing De
fi
nition
445
z
PTRG (Set palletizing arch triggers)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTRG
Position
number
Position
number
CP
Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL
{
Set arch triggers for arch motion to a palletizing point.
(This command is valid when a PACH command is executed.)
Set as the palletizing start-point arch trigger the palletizing Z-axis (PZ-axis) position data
corresponding to the point data specified in operand 1, and set as the palletizing end-point
arch trigger the PZ-axis position data corresponding to the point data specified in operand 2.
PTRG 11 13
[Refer to 3.6.5 Palletizing Function]
Among the point data, data of the PZ-axis specified by a PCHZ command must be effective.
Set the arch motion operation through palletizing points in such a way that when the axis rises
from the start point, it starts parallel movement after reaching the start-point arch trigger,
whereas, when descending, the axis completes parallel movement and then reaches the
end-point arch trigger.
An error occurs if this command is executed when BGPA is not yet declared (palletizing setting is
not permitted).
If the output is specified, it turns ON after this command has been executed.
(Note 1) Setting of the palletize arch trigger cannot be established for linear drive axes in
PX/QX.
Palletizing start-point arch trigger
Position No. 11
Palletizing end-point arch trigger
Position No. 13
Start point End point