IAI America ASEL - Manual (Page 271)

Part 2 Programs
Chapter 5 Palletizing Function (2-axis Specification)
249
Part 2 Programs
(2) Simple program example (two-axis specification) using PAPS, PAPT and PAST
The example below specifies movement only and does not cover picking operation.
Reference point
Position No. 11
(70, 70)
z
Picking position
Position No. 10