IAI America TT-C3 - Manual (Page 249)

239
INTELLIGENT ACTUATOR
Chapter 4 Commands
4.
Palletizing
Function
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
31 MOVP 8 Move to picking position.
32
33 TAG 1 Beginning of loop processing
34 PACH 1 9 Palletizing arch motion
35
Z point specified by Position
No. 9
36 ARCH 8 9 Arch motion
37
Z point specified by Position
No. 9
38 PINC 1 600
Increment palletizing position
number by 1.
39 600 GOTO 1
Go to beginning of loop if
PINC is successful.
40
41 EXIT End of task
42
43
44
45
No. Axis 1 Axis 2 Axis 3 Remarks
1 100.000 100.000 30.000 Reference point data
2 260.000 105.000 30.000 PX-axis end-point data
3 95.000 280.000 30.000 PY-axis end-point data
4 *.*** *.*** 10.000 Arch-trigger point data
5 *.*** *.*** *.*** (Not used)
6 *.*** *.*** *.***
7 *.*** *.*** *.*** (Not used)
8 0.000 0.000 30.000 Picking-position point data
9 *.*** *.*** 0.000 Z point data
10