IAI PSEL, Руководство по эксплуатации

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3. Program
165
[4] Palletizing Movement
Palletizing movement commands include commands used to move the actuator to palletizing
points and other that uses position data to specify the end point.
[Movement commands to palletizing point ....... PMVP, PMVL, PACH]
Calculate the position coordinate of a two-dimensionally or three-dimensionally positioned
palletizing point and use this coordinate as the end point to move the actuator. (The actuator
moves to the palletizing point corresponding to the palletizing position number specified in the
command when executed)
You need two actuator axes to constitute a two-dimensional plane. If you need a vertical axis
(PZ-axis), you must specify one more axis.
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.
PACH:
Move from the current position to palletizing position via arch motion.
You must set palletizing arch motion based on palletizing setting.
Top point of arch motion
Position No. 12
Start-point arch trigger
Position No. 11
End-point arch trigger
Position No. 13
Start point End point
Palletizing No. 1