IAI America PSEL - Manual (Page 242)

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Part 2 Programs
 If the valid axis pattern does not match the point data for 3-point teaching or 4-point teaching, an
error “CB0, Mismatched valid axes for palletizing 3-point teaching data” will generate. If a PAPS
command is executed after specifying the applicable axes using a GRP command, only the point
data corresponding to the specified axes, among all axes whose point data is valid, will be used as
palletizing point data. Executing a GRP command thereafter with a different setting will have no
effect.
 If there are not enough valid axes, an error “CAE, Insufficient valid axes for palletizing 3-point
teaching data” will generate.
 This command cannot be used with a PASE (set palletizing axes) command. Whichever was set later
will be given priority. (A single PAPS command can substitute a set of PASE, PAPT and PAST
commands.)
 If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an
error, “CB5, BGPA not declared at palletizing setting” will generate.
 If the output field is specified, the output will turn ON after this command is executed.