IAI America ASEL - Manual (Page 270)

Part 2 Programs
Chapter 5 Palletizing Function (2-axis Specification)
248
Part 2 Programs
5. Program Examples
(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
PY-axis end-point coordinates
Position No. 4
(69, 143)
PX-axis end-point coordinates
Position No. 3
(152, 71)
Reference point
Position No. 2
(70, 70)
z
Picking position
Position No. 1