IAI America XSEL-KE - Manual (Page 267)

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Part 4 Commands
(4) Simple program example using PASE, PAPT and PAST
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 PASE 1 2 PX-axis = Axis 1, PY-axis = Axis 2
6 PAPT 40 30 Pitch (X = 40 mm, Y = 30 mm)
7 PAST 1 Set reference point data.
8 Use position No. 1 data.
9 PSLI 20 4 Zigzag offset = 20 mm
10 Zigzag count = 4
11 PCHZ 3 Palletizing Z-axis = Axis 3
12 PTRG 4 4 Set palletizing arch triggers.
13 Use position No. 4 data.
14 OFPZ 100 PZ-axis offset = 100 mm
15
16 EDPA
17
18 * / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /
19 ATRG 4 4 Set arch triggers.
20 Use position No. 4 data.
21 ACHZ 3 Set arch-motion Z-axis.
22
23 ACC 0.3 Acceleration
24 DCL 0.3 Deceleration
25 VLMX
26
27 PSET 1 1 Set palletizing position number.
28 MOVP 8 Move to picking position.
29 * / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /
30