IAI America ASEL - Manual (Page 248)

Part 2 Programs
Chapter 3 Explanation of Commands
226
Part 2 Programs
x If the valid axis pattern does not match the point data for 3-point teaching or 4-point teaching, an error
“CB0, Mismatched valid axes for palletizing 3-point teaching data” will generate. If a PAPS command is
executed after specifying the applicable axes using a GRP command, only the point data
corresponding to the specified axes, among all axes whose point data is valid, will be used as
palletizing point data. Executing a GRP command thereafter with a different setting will have no effect.
x If there are not enough valid axes, an error “CAE, Insufficient valid axes for palletizing 3-point teaching
data” will generate.
x This command cannot be used with a PASE (set palletizing axes) command. Whichever was set later
will be given priority. (A single PAPS command can substitute a set of PASE, PAPT and PAST
commands.)
x If this command is executed before BGPA is declared (= while palletizing setting is not enabled), an
error, “CB5, BGPA not declared at palletizing setting” will generate.
x If the output field is specified, the output will turn ON after this command is executed.