IAI America XSEL-KE - Manual (Page 265)

250
Part 4 Commands
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
31 MOVP 8 Move to picking position.
32
33 TAG 1 Beginning of loop processing
34 PACH 1 9 Palletizing arch motion
35
Z point specified by Position
No. 9
36 ARCH 8 9 Arch motion
37
Z point specified by Position
No. 9
38 PINC 1 600
Increment palletizing position
number by 1.
39 600 GOTO 1
Go to beginning of loop if
PINC is successful.
40
41 EXIT End of task
42
43
44
45
No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks
1 100.000 100.000 100.000 *.*** Reference point data
2 260.000 105.000 100.000 *.*** PX-axis end-point data
3 95.000 280.000 100.000 *.*** PY-axis end-point data
4 *.*** *.*** 50.000 *.*** Arch-trigger point data
5 *.*** *.*** *.*** *.*** (Not used)
6 *.*** *.*** *.*** -1.79
Palletizing-composition point
data
7 *.*** *.*** *.*** *.*** (Not used)
8 0.000 0.000 100.000 0.000 Picking-position point data
9 *.*** *.*** 0.000 *.*** Z point data
10