IAI PSEL, Operation Manual

Page: 940 / 1062

[21] Palletizing De
fi
nition
446
z
PEXT (Set composite palletizing)
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 PEXT
(Position
number)
Prohibited CP
Applicable models
ASEL/PSEL/SSEL ×
Other than ASEL/PSEL/SSEL
{
Set composite palletizing.
Set the position number specified in operand 1 for setting composite palletizing.
When a palletizing movement command is executed, effective axis data other than data of the
PX and PY (and PZ) axes among the specified point data defines the end coordinate of the
composite axis.
With SCARA robots, the R-axis becomes a composite palletizing axis.
If nothing is specified in operand 1, the position number already declared for setting composite
palletizing becomes invalid.
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) The palletizing composition axes setting cannot be made to the linear drive axis
for PX/QX.