IAI America XSEL-KX - Manual (Page 228)

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Part 4 Commands
 PASE (Declare palletizing axes)
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 PASE
Axis
number
Axis
number
CP
Set the two axes to be used in palletizing (PX and PY-axes).
The axis specified in operand 1 will be set as the preferential axis (PX-axis).
The axis specified in operand 2 will be set as the PY-axis.
This command is used in conjunction with PAPT and PAST.
It cannot be used together with a 3-point teaching (PAPS) command. Whichever is set later will be given
priority.
It is recommended to use a 3-point teaching (PAPS) command if the palletizing requires high precision.
If this command is executed before BGPA is declared (= 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.
(Note) The movements of arms 1 and 2 of the SCARA robot are linked.
It is not always the case that arm 1 is the X-axis and arm 2 is the Y-axis.
It should be interpreted that the operation of X-axis (axis number = 1) represents operation in the
X coordinate direction, while the operation of the Y-axis (axis number = 2) represents operation
in the Y coordinate direction.
 PAPT (Set palletizing pitches)
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 PAPT Pitch Pitch CP
Set palletizing pitches.
The value specified in operand 1 will be set as the pitch for the preferential axis (PX-axis), while the
value specified in operand 2 will be set as the pitch for the PY-axis.
This command is used in conjunction with PASE and PAST.
If this command is executed before BGPA is declared (= 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.