IAI America ASEL User Manual

Page 246

Part 2 Programs

Chapter 3 Explanation of Commands

224

Part 2 Programs

PAST (Set palletizing reference point)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1

Operand 2

Output

(Output, flag)

Optional

PAST

(Position

number)

Prohibited

Set the reference point used in palletizing.

If a value is set in operand 1, that position number specified in operand 1 will be used to store the

reference point data.

If no value is set in operand 1, the position-number setting for storing reference point data will become

invalid.

This command is used in conjunction with PASE and PAPT.

If this command is not set, coordinates (0, 0) are used as the reference point. If this command is set, the

set coordinates are used as the reference point in calculating the position coordinates of palletizing

points.

Coordinates in both the PX and PY-axis directions must always be set as the reference-point

coordinates.

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.