IAI America ASEL - Manual (Page 269)

Part 2 Programs
Chapter 5 Palletizing Function (2-axis Specification)
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Part 2 Programs
4. Palletizing Movement
Palletizing movement commands are used to move the actuator to palletizing points.
(1) Movement commands to palletizing point --- PMVP, PMVL
Position coordinates of a two-dimensionally placed palletizing point are calculated and movement
is performed using the calculated point as the end point. (The axes will move to the palletizing
point of the palletizing position number specified in the executed command.)
Two actuator axes will be required to comprise a two-dimensional plane.
PMVP: Move from the current position to a palletizing point via PTP.
PMVL: Move from the current position to a palletizing point via interpolation.