IAI America XSEL-QX - Manual (Page 394)

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Part 4 Commands
(2) Program example using PASE, 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 VELS 80 PTP travel speed: 80%
2 ACCS 50 PTP travel acceleration: 50%
3 DCLS 50 PTP travel deceleration: 50%
4 VEL 100 CP travel speed: 100 mm/sec
5 ACC 0.3 CP travel acceleration: 0.3 G
6 DCL 0.3 CP travel deceleration: 0.3 G
7 SLWK 0 Select load coordinate system No. 0.
8 SLTL 0 Select tool coordinate system No. 0.
9
10 BGPA 1 Start setting palletizing No. 1.
11 PAST 201 Set reference-point data.
12 PASE 1 2 PX-axis = X-axis, PY-axis = Y-axis
13 PAPT 40 30 Pitch PX: 40, PY: 30
14 PAPI 5 7 Palletizing counts: 5 x 7
15 PSLI 20 4 Zigzag offset = 20 mm, count = 4
16 PEXT 202 Set palletizing R-axis coordinate.
17 PCHZ 3 Palletizing Z-axis = Axis 3
18 PTRG 203 203 Set palletizing arch triggers.
19 OFPZ 5 PZ-axis offset = 5 mm
20 EDPA
21
22 ATRG 203 203 Set arch triggers.
23 ACHZ 3 Arch-motion Z-axis = Axis 3
24
25 PTPL Perform positioning in PTP mode using left arm.
26 MOVP 208 Move to picking position in PTP mode.
27 PSET 1 1 Set palletizing position number to 1.
28 TAG 1 Beginning of loop processing
29 PACH 1 204 Palletizing arch motion
30 ARCH 208 204 Arch motion
31 PINC 1 600 Increment palletizing position number by 1.
32 600 GOTO 1 Beginning of loop when PINC is successful.
33 MOVL 207 Move to standby position in CP mode.
34 EXIT End
Position data (Stroke with arm length 500)
Reference-point position
Palletizing R-axis position
Arch/palletizing trigger position
Highest position (Z point)
Standby position
Pickup position