IAI America XSEL-KET - Manual (Page 256)

237
Part 4 Commands
INTELLIGENT ACTUATOR

PMVL (Move to palletizing points via interpolation)
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 PMVL
Palletizing
number
(Position
number)
PE
Move to the calculated palletizing points via interpolation.
The axes will move to the palletizing points specified in operand 1, via interpolation.
If the palletizing points are valid only for the PX/PY-axes (when palletizing Z-axis (PZ-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 PZ-direction position will move to the height
of the specified position number by ignoring the palletizing calculation (only when three or more axes are
available).
Any data other than PZ-axis data contained in the position number specified in operand 2 will be ignored.
Absence of Z-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.