IAI America ASEL - Manual (Page 243)

Part 2 Programs
Chapter 3 Explanation of Commands
221
Part 2 Programs
1.21 Palletizing-Related
z BGPA (Declare start of palletizing setting)
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 BGPA
Palletizing
number
Prohibited CP
Declare the start of a palletizing setting.
Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will
be enabled.
(In the case of an ACHZ, AEXT, OFAZ or ATRG command, setting is enabled without declaring BGPA.)
The input range of palletizing number is from 1 to 10.
When the palletizing setting is complete, execute EDPA.
Nested BGPAs are not supported. To declare start of another palletizing setting, execute an EDPA
command and then execute a BGPA command again.
If the output field is specified, the output will turn ON after this command is executed.
Palletizing numbers are in the local range. Therefore, a given palletizing setting is valid only within the
program in which it is set.
(Note) Using a GOTO command to branch out of or into a BGPA-EDPA syntax is prohibited.
z EDPA (Declare end of palletizing setting)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Prohibited Prohibited EDPA Prohibited Prohibited CP
Declare the end of a palletizing setting.
If a palletizing-setting command (excluding BGPA, ACHZ, ATRG, AEXT and OFAZ) is executed before
another BGPA is declared following an execution of this command (= 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.