IAI PSEL, Руководство по эксплуатации

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[21] Palletizing De
fi
nition
447
z
OFPZ (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)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OFPZ
Offset value Prohibited
CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
Set the offset in palletizing Z-axis direction.
Set the value specified in operand 1 as the offset in PZ-axis/palletizing Z-axis direction.
The setting unit of offset is mm. The effective resolution of the set value is 0.001mm.
A negative value can also be set for the offset within the range of operation.
This offset is effective only on the end point of PACH (Arch motion to palletizing point)
operation.
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) Setting of the palletize Z-axis offset cannot be established for linear drive axes in
PX/QX.