IAI X-SEL PX, Operation Manual, Page: 330 / 560

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Part 4 Commands

PTRG (Dedicated SCARA command: 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)
Optional Optional PTRG Position
number
Position
number
CP
Set the arch triggers to be used for arch motion along the palletizing points.
(This setting becomes valid when a PACH command is executed.)
Set the PZ-axis (palletizing Z-axis) position data in the point data specified in operand 1 as the palletizing
start-point arch trigger, and set the PZ-axis position data in the point data specified in operand 2 as the
palletizing end-point arch trigger.
PTRG 11 13
(Refer to “Palletizing Setting” – “Palletizing arch triggers” under "How to Use.")
As for the point data, the PZ-axis data specified by a PCHZ command must be valid.
For an arch-motion operation along the palletizing points, set it so that a horizontal movement will begin
when the start-point arch trigger is reached during ascent from the start point, and that the end-point arch
trigger will be reached after a horizontal movement is completed during descent.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
If the output field is specified, the output will turn ON after this command is executed.
Palletizing start-point arch trigger
Position No. 11
Palletizing end-point arch trigger
Position No. 13
Start point
End point
304
Part 4 Commands

PEXT (Dedicated SCARA command: Set palletizing composition (Set R-axis coordinate))
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PEXT (Position
number)
Prohibited CP
This command sets a R-axis coordinate of a given palletizing position.
Set palletizing composition.
The position number specified in operand 1 will be set for use in composition.
The R-axis coordinate of a given palletizing position is set using this command.
When a palletizing movement command is executed, the data of any valid axes other than the PX, PY
(and PZ)-axes in the specified point data will comprise the end-point coordinates of the composite axis.
If operand 1 is not specified, the position number for composition setting that was already declared will
become invalid.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
If the output field is specified, the output will turn ON after this command is executed.
(Note 1) The palletizing composition axis cannot be set when setting palletizing using any linear
movement axis.

OFPZ (Dedicated SCARA command: Set palletizing Z-axis offset)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional OFPZ Offset
value
Prohibited CP
Set the offset in the palletizing Z-axis direction.
The value specified in operand 1 will be set as the offset in the PZ-axis (palletizing Z-axis) direction.
The offset amount is set in mm and the effective resolution is 0.001 mm.
A negative value can also be specified as the offset, as long as the operation range will not be exceeded.
This offset is valid only at the end point of PACH (palletizing-point arch motion) operation.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
If the output field is specified, the output will turn ON after this command is executed.
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