IAI America XSEL-KET - Manual (Page 247)

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Part 4 Commands
INTELLIGENT ACTUATOR

PTRG (Set palletizing arch triggers)
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 PTRG
Position
number
Position
number
CP
Set the arch triggers to be used for arch motion along the palletizing points.
(This setting becomes valid when a PACH command is executed.)
Set the palletizing Z-axis (PZ-axis) position data in the point data specified in operand 1 as the palletizing
start-point arch trigger, and set the PZ-axis position data in the point data specified in operand 2 as the
palletizing end-point arch trigger.
PTRG 11 13
(Refer to “Palletizing Setting” – “Palletizing arch triggers” under "How to Use.")
As for the point data, the PZ-axis data specified by a PCHZ command must be valid.
For an arch-motion operation along the palletizing points, set it so that a horizontal movement will begin
when the start-point arch trigger is reached during ascent from the start point, and that the end-point arch
trigger will be reached after a horizontal movement is completed during descent.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
If the output field is specified, the output will turn ON after this command is executed.
Palletizing start-point arch trigger
Position No. 11
Palletizing end-point arch trigger
Position No. 13
Start point End point