beautypg.com

IAI America TT-C3 User Manual

Page 247

background image

237

INTELLIGENT ACTUATOR

Chapter 4 Commands

4.
Palletizing

Function

(2) Simple program example (two-axis specification) using PAPS, PAPT and PAST

The example below specifies movement only and does not cover picking operation.

Step

E

N

Cnd

Cmnd

Operand 1

Operand 2

Pst

Comment

1

BGPA

1

Start setting palletizing No. 1.

2

PAPI

3

4

Palletizing counts: 3 x 4

3

PASE

1

2

PX-axis = Axis 1, PY-axis = Axis 2

4

PAPT

40

25

Pitch: X = 40, Y = 25

5

PAST

2

Position No. 2 as reference point

6

EDPA

End setting palletizing No. 1.

7

8 VEL

200

Speed:

200

mm/sec

9

MOVL

1

Move to picking position.

10

PSET

1

1

Set palletizing position number to 1.

11

TAG

1

12

PMVL

1

Move to palletizing position via
interpolation.

13

MOVL

1

Move to picking position via
interpolation.

14

PINC

1

600

Increment palletizing position
number by 1.

15 600 GOTO

1

Beginning of loop if PINC is
successful.

16

EXIT

End

No.

Axis 1

Axis 2

Vel

Acc

Dcl

Remarks

1

10.000

10.000

Picking

position

2

70.000

70.000

Reference-point

position

data

PY-axis

(PX-axis)

Reference point

Position No. 2

(70, 70)

Picking position
Position No. 1

PX-axis direction pitch: 40
PY-axis direction pitch: 25
The PX-axis and PY-axis are parallel with axis 1 and axis 2, respectively.

z

This manual is related to the following products: