IAI America XSEL-KET - Manual (Page 276)

257
Part 4 Commands
INTELLIGENT ACTUATOR
(2) Simple program example (two-axis specification) using PAPS, 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 PAPI 3 4 Palletizing counts: 3 x 4
3 PASE 1 2 PX-axis = Axis 1, PY-axis = Axis 2
4 PAPT 40 25 Pitch: X = 40, Y = 25
5 PAST 2 Position No. 2 as reference point
6 EDPA End setting palletizing No. 1.
7
8 VEL 200 Speed: 200 mm/sec
9 MOVL 1 Move to picking position.
10 PSET 1 1 Set palletizing position number to 1.
11 TAG 1
12 PMVL 1
Move to palletizing position via
interpolation.
13 MOVL 1
Move to picking position via
interpolation.
14 PINC 1 600
Increment palletizing position
number by 1.
15 600 GOTO 1
Beginning of loop if PINC is
successful.
16 EXIT End
No. Axis 1 Axis 2 Vel Acc Dcl Remarks
1 10.000 10.000 Picking position
2 70.000 70.000 Reference-point position data
PY-axis
(PX-axis)
25
40
Reference point
Position No. 2
(70, 70)

Picking position
Position No. 1
PX-axis direction pitch: 40
PY-axis direction pitch: 25
The PX-axis and PY-axis are parallel with axis 1 and axis 2, respectively.