IAI America ASEL - Manual (Page 244)

Part 2 Programs
Chapter 3 Explanation of Commands
222
Part 2 Programs
z PAPI (Set palletizing counts)
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 PAPI Count Count CP
Set counts in the palletizing-axis directions.
The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count
specified in operand 2 will apply to the PY-axis direction.
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.
z PAPN (Set palletizing pattern)
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 PAPN
Pattern
number
Prohibited CP
Set a palletizing pattern.
The palletizing pattern specified in operand 1 will be set (1 = Pattern 1, 2 = Pattern 2).
If this command is not declared, pattern 1 will be used.
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.