IAI America XSEL-QX - Manual (Page 335)

311
Part 4 Commands
1.22 Palletizing Movement Command
z PMVP (Move to palletizing points via PTP)
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 PMVP
Palletizing
number
(Position
number)
PE
Move to the calculated palletizing points via PTP.
The axes will move to the palletizing points specified in operand 1, via PTP.
If the palletizing points are valid only for the PX/PY-axes (when a PZ-axis (palletizing Z-axis) is not
specified, etc.), movement in directions other than the PX/PY-axis directions will not be performed. If the
PZ-axis coordinates of the palletizing points are also valid, movement in the PZ-axis direction will also be
performed.
However, if a position number is specified in operand 2, the Z-direction position will move to the height of
the specified position number by ignoring the palletizing calculation.
Any data other than palletizing Z-axis data contained in the position number specified in operand 2 will
be ignored. Absence of PZ-axis data will be handled as an error.
If palletizing composition is set, any axes other than the PX, PY (and PZ)-axes will also be operated if
data is available for such axes.
Executing this command will not increment the palletizing position number by 1.
Before specifying operand 2, a palletizing Z-axis must have been declared (PCHZ) in the palletizing
setting.
If palletizing Z-axis has not been declared, an error will generate.
(Note 1) If the specified palletizing setting involves both SCARA and linear movement axes, an
“Error No. 421, SCARA/linear movement axis simultaneous specification error” will
generate.
When setting palletizing for any PMVP movement, make sure all operating axes are
SCARA axes or all are linear movement axes.