IAI America XSEL-QX - Manual (Page 338)

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Part 4 Commands
x The PZ-axis coordinate of the end point will become the PZ-axis component of the position
coordinates of the palletizing point, if any, plus the palletizing Z-axis offset. If there is no PZ
component, the PZ-axis coordinate of the end point will become the PZ-axis coordinate of the start
point plus the palletizing Z-axis offset. (Normally the offset is added to all palletizing positions, such
as the arch triggers and Z point.)
x An error will generate if the palletizing start-point arch trigger is set below the start point or the
palletizing end-point arch trigger is set below the end point. (Note: Up/down has nothing to do with
+/– on the coordinate system.)
x The PZ-axis up direction refers to the direction toward the Z point from the start point (the down
direction refers to the opposite direction), and has nothing to do with the size of coordinate value.
Therefore, be sure to confirm the actual operating direction when using this command.
x The PZ-axis will come down after a rise-process command value is output. Therefore, the operation
may follow the locus shown below depending on the settings of palletizing arch-trigger points and Z
point:
Fig. 5
In this case, change the palletizing arch triggers and PZ point to increase the operation efficiency.
x If palletizing composition (PEXT) is set, axes other than the PX, PY and PZ-axes will also be
operated if data is available for such axes. However, the composite axis will start/end operation at
positions above the arch triggers. If the R-axis is set with a PEXT command, R-axis operation will
start and end above the arch triggers.
x Executing this command will not increment the palletizing position number by 1.
(Note 1) The PACH command executes PTP operation.
Z point
Palletizing start-point
arch-trigger point
Palletizing start-point
arch-trigger point
Start point End point Start point End point