IAI America ASEL - Manual (Page 267)

Part 2 Programs
Chapter 5 Palletizing Function (2-axis Specification)
245
Part 2 Programs
(5) Zigzag setting --- Command: PSLI
Use a PSLI command to set a zigzag layout as shown below.
Zigzag offset: Offset amount in the preferential-axis direction, which will be applied when even-
numbered rows are placed.
“Even-numbered rows” refer to the rows occurring at the even numbers based on
the row placed first representing the first row.
Zigzag count: Number in the even-numbered rows. Two in the diagram below.
PSLI 35 2
Preferential
axis (PX-
axis)
Offset
35
Odd-numbered
row
(PY-axis)
Even-numbered
row