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How to use, Palletizing setting – IAI America SSEL User Manual

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Part 2 Programs

Chapter 5 Palletizing Function (2-axis Specification)

The SEL language used by the SSEL 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.