IAI America ASEL - Manual (Page 246)

Part 2 Programs
Chapter 3 Explanation of Commands
224
Part 2 Programs
z PAST (Set palletizing reference point)
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 PAST
(Position
number)
Prohibited CP
Set the reference point used in palletizing.
If a value is set in operand 1, that position number specified in operand 1 will be used to store the
reference point data.
If no value is set in operand 1, the position-number setting for storing reference point data will become
invalid.
This command is used in conjunction with PASE and PAPT.
If this command is not set, coordinates (0, 0) are used as the reference point. If this command is set, the
set coordinates are used as the reference point in calculating the position coordinates of palletizing
points.
Coordinates in both the PX and PY-axis directions must always be set as the reference-point
coordinates.
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.