IAI America XSEL-KX - Manual (Page 290)

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Part 4 Commands
5. Program Examples
(1) Program example using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
1 VELS 80 PTP travel speed: 80%
2 ACCS 50 PTP travel acceleration: 50%
3 DCLS 50 PTP travel deceleration: 50%
4 VEL 100 CP travel speed: 100 mm/sec
5 ACC 0.3 CP travel acceleration: 0.3 G
6 DCL 0.3 CP travel deceleration: 0.3 G
7 SLWK 0 Select load coordinate system No. 0.
8 SLTL 0 Select tool coordinate system No. 0.
9
10 BGPA 1 Start setting palletizing No. 1.
11 PAPI 5 7 Palletizing counts: 5 x 7
12 PAPS 101 Set by 3-point teaching.
13 PEXT 104 Set palletizing R-axis coordinate.
14 PSLI 20 4 Zigzag offset = 20 mm
15 PAPN 1 Palletizing pattern 1
16 PCHZ 3 Palletizing Z-axis = Axis 3
17 PTRG 105 105 Set palletizing arch triggers.
18 OFPZ 5 PZ-axis offset = 5 mm
19 EDPA
20
21 ATRG 105 105 Set arch triggers.
22 ACHZ 3 Arch-motion Z-axis = Axis 3
23
24 PTPL Perform positioning in PTP mode using left arm.
25 MOVP 110 Move to picking position in PTP mode.
26 PSET 1 1 Set palletizing position number to 1.
27 TAG 1 Beginning of loop processing
28 PACH 1 106 Palletizing arch motion
29 ARCH 110 106 Arch motion
30 PINC 1 600 Increment palletizing position number by 1.
31 600 GOTO 1 Beginning of loop when PINC is successful.
32 MOVL 109 Move to standby position in CP mode.
33 EXIT End
Position data (Stroke with arm length 500)
Reference-point position
PX-axis end point
PY-axis end point
Palletizing R-axis position
Arch/palletizing trigger position
Highest position (Z point)
Standby position
Pickup position