IAI America TT-C3 User Manual
Page 252
242
INTELLIGENT ACTUATOR
Chapter 4 Commands
4.
Palletizing
Function
Step
E
N
Cnd
Cmnd
Operand 1
Operand 2
Pst
Comment
31
TAG
1
Beginning of loop processing
32
PACH
1
9
Palletizing arch motion
33
Z point specified by Position No. 9
34
ARCH
8
9
Arch
motion
35
Z point specified by Position No. 9
36
PINC
1
600
Increment palletizing position
number by 1.
37 600 GOTO
1
Go to beginning of loop if PINC is
successful.
38
39
EXIT
End of task
40
No.
Axis 1
Axis 2
Axis 3
Remarks
1
100.000
100.000
30.000
Reference point data
2 *.***
*.***
*.***
(Not
used)
3 *.***
*.***
*.***
(Not
used)
4
*.***
*.***
10.000
Arch-trigger point data
5 *.***
*.***
*.***
(Not
used)
6 *.***
*.***
*.***
(Not
used)
7 *.***
*.***
*.***
(Not
used)
8
0.000
0.000
30.000
Picking-position point data
9
*.***
*.***
0.000
Z point data
10