IAI America PSEL - Manual (Page 257)

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Part 2 Programs
Chapter 5 Palletizing Function (2-axis Specification)
The SEL language used by the PSEL Controller provides palletizing commands that support palletizing
operation. These commands allow simple specification of various palletizing settings and enable arch
motion ideal for palletizing.
1. How to Use
Use palletizing commands in the following steps:
(1) Palletizing
setting
Set palletizing positions, arch motion, etc., using palletizing setting commands.
(2) Palletizing calculation
Specify palletizing positions using palletizing calculation commands.
(3) Palletizing movement
Execute motion using palletizing movement commands.
2. Palletizing Setting
Use the palletizing setting commands to set items necessary for palletizing operation. The setting items
include the following:
(1) Palletizing number setting --- Command: BGPA
At the beginning of a palletizing setting, determine a palletizing number using a BGPA command to
declare the start of palletizing setting.
At the end, declare the end of palletizing setting using an EDPA command.
BGPA 1 Declare the start of setting for palletizing No. 1.
Set palletizing in these steps.
EDPA Declare the end of palletizing setting at the end.
A maximum of 10 sets (palletizing Nos. 1 to 10) of palletizing setting can be specified for each
program.