IAI PSEL, Operation Manual

Page: 948 / 1062

[23] Palletizing Movement
454
[23] Palletizing Movement
z
PMVP (Move to palletizing points via PTP)
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 PMVP
Palletizing
number
(Position
number)
PE
Applicable models
All models [Refer to Section 5.1 for details of models]
{
Move to the calculated palletizing points via PTP.
The axes will move to the palletizing points specified in operand 1, via PTP.
Executing this command will not increment the palletizing position number by 1.
On controllers other than ASEL, PSEL and SSEL, movement does not occur in directions
other than PX/PY-axis directions if the PX/PY-axis coordinates of palletizing points alone are
effective (such as when the PZ-axis (palletizing Z axis) is not specified). If the PZ-axis
coordinates of palletizing points are also effective, movement occurs in PZ-axis direction.
If a position number is specified in operand 2, however, the palletizing calculation result of
Z-direction position is ignored and the axis moves to the height corresponding to the specified
position number.
If data of any axis other than the Z-axis specified by palletizing is set under the position
number specified in operand 2, such data is ignored. An error handling occurs if no PZ-axis
data is available.
If composite palletizing is set, any axis whose data is available, other than the PX-axis and
PY-axis (and PZ-axis), also operates.
If operand 2 is specified, the palletizing Z-axis must be declared (PCHZ) in the palletizing
setting.
An error occurs if the palletizing Z-axis is not declared.