IAI X-SEL PX, Operation Manual, Page: 334 / 560

307
Part 4 Commands

AEXT (Dedicated SCARA command: Set arch-motion composition)
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 AEXT (Position
number)
Prohibited CP
Set arch-motion composition.
The position number specified in operand 1 will be set for use in composition.
When an arch motion is executed, the data of valid axes in the point data specified in this command,
except for the data of valid axes in the arch-motion end-point data as well as the arch-motion Z-axis 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 the output field is specified, the output will turn ON after this command is executed.
(Note 1) Linear movement axes cannot be set as the axes for arch-motion composition.

OFAZ (Set arch-motion 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 OFAZ Offset
value
Prohibited CP
Set the offset in the arch-motion Z-axis direction.
The value specified in operand 1 will be set as the offset in the arch-motion 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 ARCH (arch motion) operation.
If the output field is specified, the output will turn ON after this command is executed.
308
Part 4 Commands
1.21 Palletizing Calculation Command

PTNG (Get palletizing position number)
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 PTNG
Palletizing
number
Variable
number
CP
Assign the palletizing position number for the palletizing number specified in operand 1 to the variable
specified in operand 2.
If the output field is specified, the output will turn ON after this command is executed.

PINC (Increment palletizing position number by 1)
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 PINC
Palletizing
number
Prohibited CC
Increment by 1 the palletizing position number for the palletizing number specified in operand 1.
If the incremented value is considered normal as a palletizing position number calculated under the
current palletizing setting, the value will be updated. If not, the value will not be updated.
If the output field is specified, the output will turn ON when the value was successfully incremented, and
turn OFF if the increment failed.
310