IAI RA Series, Инструкция по эксплуатации

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4. Operation Program
102
z
XACH (extension motion control axis arch motion)
Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration
Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional XACH
Position
number
Position
number
PE
[Function] Arch Motion gets performed from the current position to the target position.
• Movement will be made with Arch Motion (CP Movement) to the position indicated
in Operand 1.
• Movements in directions other than the arch-motion Z-axis direction will begin after
rising from the current position to the start-point arch trigger. With Z-axis position in
the position indicated in Operand 2 as the highest point, after all the movement
except for the direction of the arch motion Z-axis is finished, the actuator passes
near the end point arch trigger and reaches the indicated position.
• The setting of the arch motion Z-axis by XACZ Command and the arch trigger by
XATG Command are necessary.
(Note 1) Set axis patterns using the XAXS or XA16 command before executing this command.
If the command has not been executed, error No. 4B3 “No extension motion control
board axe pattern setting error” occurs. The arch motion Z-axis and arch motion
composited axes (when arch motion composition is activated) should be included in
the indicated axis patterns. Error No. CB4 “Palletized Z-Axis Non-Declaration Error”
will occur if there is no arch motion Z-axis included in the axis patterns.
(Note 2) This command requires indication of the velocity, acceleration and deceleration in
VEL, VLMX, ACC, DCL Commands before execution. If those commands have not
been executed, an error occurs.
(In this command, the velocity and acceleration/deceleration set in the position table
should get invalid.)
(Note 3) The positioning complete band is valid only for the arch motion Z-axis in the position
indicated in Operand 1. It should be defined as positioning complete when the
actuator goes down along the Z-axis to the target position and reaches the indicated
positioning complete band.
(Note 4) It should be CP operation.
[Example 1]
XACZ 3
XATG 13 11
•
•
•
XACH 10 12
Highest point of arch motion
Position No. 12
*
*
*
*
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
Start point
End point
Position No. 10
ME0364-2B