IAI America XSEL-KE - Manual (Page 264)

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Part 4 Commands
(3) Simple program example using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
1 BGPA 1 Start setting palletizing No. 1.
2
3 PAPI 5 7 Palletizing counts: 5 x 7
4 PAPN 1 Palletizing pattern 1
5 PAPS 1 Set by 3-point teaching.
6 Use position No. 1 data.
7 PSLI 20 4 Zigzag offset = 20 mm
8 PCHZ 3 Palletizing Z-axis = Axis 3
9 PTRG 4 4 Set palletizing arch triggers.
10 Use position No. 4 data.
11 OFPZ 100 PZ-axis offset = 100 mm
12 PEXT 6 Set palletizing composition.
13 Use position No. 6 data.
14 EDPA
15
16 PARG 1 1 Get palletizing angle.
17 Stored in variable 199.
18 PPUT 4 6 Store angle data of variable
19 199 in axis 4 at position No. 6.
20 * / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /
21
22 ATRG 4 4 Set arch triggers.
23 Use position No. 4 data.
24 ACHZ 3 Set arch-motion Z-axis.
25
26 ACC 0.3 Acceleration
27 DCL 0.3 Deceleration
28 VLMX
29
30 PSET 1 1
Set palletizing position
number to 1.