IAI America PSEL - Manual (Page 264)

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Part 2 Programs
5. Program Examples
(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
PY-axis end-point coordinates
Position No. 4
(69, 143)
PX-axis end-point coordinates
Position No. 3
(152, 71)
Reference point
Position No. 2
(70, 70)
 Picking position
Position No. 1
Set 3 point for teaching
Start setting palletizing number 1
Palletizing counts 3x7
Zigzag offset = 20 mm
End palletizing number 1 setting
Speed 20 mm/sec.
Move to pick position
Set palletizing position number to 1
Move to palletizing points via PTP
Move to pick position via PTP
Palletizing position number by +1
Loop begging when PINC successful