IAI X-SEL PX, Руководство по эксплуатации, Страница: 390 / 560

363
Part 4 Commands
(5) Zigzag setting --- Command: PSLI
Use a PSLI command to set a zigzag layout as shown below.
Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when even-
numbered rows are placed.
“Even-numbered rows” refer to the rows occurring at the even numbers based
on the row placed first representing the first row.
Zigzag count: Number in the even-numbered rows. Two in the diagram below.
PSLI 35 2
(6) Arch-motion setting
(a) Arch-motion Z-axis number --- Command: ACHZ
(b) Arch-motion Z-axis offset --- Command: OFAZ
(c) Arch-motion composition --- Command: AEXT
Composition data refers to position data of any additional axis you wish to use in arch-
motion operation, other than the valid end-point axes or arch-motion Z-axis. Examples
include rotation angle.
Note that operation of the composite axis will start and end above the arch triggers.
In an arch-motion composition setting command, specify a position number storing arch-
motion composition data.
(d) Arch triggers --- Command: ATRG
The arch-trigger settings used for arch motion include the items specified below.
In an arch-trigger setting command, specify position numbers storing arch-trigger
coordinate data.
(d-1) Start-point arch trigger
Specify when to start moving in other axis direction after the start of arch motion from
the start point, as an arch-motion Z-direction coordinate position reached.
Start-point arch trigger = Z1
(d-2) End-point arch trigger
Specify when to end moving in other axis direction during downward arch motion, as
an arch-motion Z-direction coordinate position reached.
End-point arch trigger = Z3
Preferential
axis
(PX-axis)
Offset
35
Odd-numbered
row
(PY-axis)
Even-numbered
row
Highest point (X2, Y2, Z2)
Start point (X0, Y0, Z0)
End point (X4, Y4, Z4)
(X1, Y1, Z1) (X3, Y3, Z3)
364
Part 4 Commands
(7) Palletizing arch-motion setting
(a) Palletizing Z-direction axis number --- Command: PCHZ (Dedicated SCARA command)
(b) Palletizing Z-axis offset --- Command: OFPZ (Dedicated SCARA command)
(c) Palletizing composition --- Command: PEXT (Dedicated SCARA command)
Composition data refers to position data of any additional axis you wish to use with
palletizing movement commands, other than the PX, PY (and PZ)-axes. Use a PEXT
command to set the R-axis position coordinates of a given palletizing position.
Note that operation of the composite axis will start and end above the palletizing arch
triggers.
In a palletizing-composition setting command, specify a position number storing palletizing
composition data.
(d) Palletizing arch triggers --- Command: PTRG (Dedicated SCARA command)
If the end point is a palletizing point, a palletizing arch trigger must be set just like an arch
trigger.
In a palletizing arch-trigger setting command, specify position numbers storing palletizing
arch-trigger coordinate data.
(d-1) Palletizing start-point arch trigger
(d-2) Palletizing end-point arch trigger
366