IAI America XSEL-KX - Manual (Page 226)

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Part 4 Commands
1.19 Palletizing-Related
 BGPA (Declare start of palletizing setting)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional BGPA
Palletizing
number
Prohibited CP
Declare the start of a palletizing setting.
Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will
be enabled.
(In the case of an ACHZ, AEXT, OFAZ or ATRG command, setting is enabled without declaring BGPA.)
The input range of palletizing number is from 1 to 10.
When the palletizing setting is complete, execute EDPA.
Nested BGPAs are not supported. To declare start of another palletizing setting, execute an EDPA
command and then execute a BGPA command again.
If the output field is specified, the output will turn ON after this command is executed.
(Note) Using a GOTO command to branch out of or into a BGPA-EDPA syntax is prohibited.
 EDPA (Declare end of palletizing setting)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Prohibited Prohibited EDPA Prohibited Prohibited CP
Declare the end of a palletizing setting.
If a palletizing-setting command (excluding BGPA, ACHZ, ATRG, AEXT and OFAZ) is executed before
another BGPA is declared following an execution of this command (= while palletizing setting is not
enabled), an error will generate.
If the output field is specified, the output will turn ON after this command is executed.