IAI America XSEL-KET - Manual (Page 250)

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Part 4 Commands
INTELLIGENT ACTUATOR

ATRG (Set 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 ATRG
Position
number
Position
number
CP
Set the arch triggers used for arch motion.
(This setting becomes valid when an ARCH command is executed.)
Set the arch-motion Z-axis position data in the point data specified in operand 1 as the start-point arch
trigger, and set the arch-motion Z-axis position data in the point data specified in operand 2 as the end-
point arch trigger.
ATRG 13 11
(Refer to “Palletizing Setting” – “Arch triggers” under “How to Use.”)
For an arch-motion operation, 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 the output field is specified, the output will turn ON after this command is executed.
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
Start point End point