IAI America SSEL - Manual (Page 251)

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Part 2 Programs
x The arch-motion Z-axis will come down after a rise-process command value is output. Therefore,
one of the following operations will be performed depending on how the arch-trigger point and Z
point are set.
If the resulting operation is undesirable, change the arch trigger and/or Z point to improve the
efficiency of movement.
The table below shows a program and data to cause the actuator to perform arch-motion operation by
moving back and forth along the above path.
Z point
Palletizing start point
Arch trigger point
Palletizing start point
Arch trigger point
Start point End point Start point End point
Position No. 21 Position No. 20
Speed = 200 mm/sec
Arch motion Z-axis = Axis 2
Arch trigger position = No. 23
PTP movement to position 20
Arch motion to position 21
Arch motion to position 20