IAI America XSEL-KET - Manual (Page 239)

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Part 4 Commands
INTELLIGENT ACTUATOR

PASE (Declare palletizing axes)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PASE
Axis
number
Axis
number
CP
Set the two axes to be used in palletizing (PX and PY-axes).
The axis specified in operand 1 will be set as the preferential axis (PX-axis).
The axis specified in operand 2 will be set as the PY-axis.
This command is used in conjunction with PAPT and PAST.
It cannot be used together with a 3-point teaching (PAPS) command. Whichever is set later will be given
priority.
It is recommended to use a 3-point teaching (PAPS) command if the palletizing requires high precision.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.

PAPT (Set palletizing pitches)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PAPT Pitch Pitch CP
Set palletizing pitches.
The value specified in operand 1 will be set as the pitch for the preferential axis (PX-axis), while the
value specified in operand 2 will be set as the pitch for the PY-axis.
This command is used in conjunction with PASE and PAST.
If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an error
will generate.
If the output field is specified, the output will turn ON after this command is executed.