IAI America SSEL User Manual

Page 283

261

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

Start of palletizing No. 2 setting

Palletizing count = 4 x 5

PX-axis = Axis 1, PY-axis = Axis 2

Pitch X = 20, Y = 15

Position No. 11 = Reference point

Zigzag offset = -10 mm

End of palletizing No. 2 setting

PTP movement through palletizing points

PTP movement to pickup position

Palletizing position number + 1

Back to beginning of loop if PINC is successful

Speed = 200 mm/sec

Movement to pickup position

Setting of palletizing position number to 1