IAI America XSEL-KE - Manual (Page 258)

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Part 4 Commands
(7) Palletizing arch-motion setting
(a) Palletizing Z-direction axis number --- Command: PCHZ
(b) Palletizing Z-axis offset --- Command: OFPZ
(c) Palletizing composition --- Command: PEXT
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. Examples include rotation angle.
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
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