IAI America PSEL User Manual

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Part 2 Programs

(2) Simple program example (two-axis specification) using PAPS, PAPT and PAST

The example below specifies movement only and does not cover picking operation.

Reference point

Position No. 11

(70, 70)



Picking position
Position No. 10

PX axis = 1, PY axis = 2

Start setting palletizing number 2

Palletizing counts 4x5

Pitch X = 20, Y = 15

Position number 11 reference point

Speed 20 mm/sec.

Move to pick position

Set palletizing position number to 1

Move to palletizing points via PTP

Move to pick position via PTP

Palletizing position number by +1

Loop begging when PINC successful

Zigzag offset = 10 mm

End palletizing number 2 setting