IAI America PSEL - Manual (Page 265)

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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)

Picking position
Position No. 10
PX axis = 1, PY axis = 2
Start setting palletizing number 2
Palletizing counts 4x5
Pitch X = 20, Y = 15
Position number 11 reference point
Speed 20 mm/sec.
Move to pick position
Set palletizing position number to 1
Move to palletizing points via PTP
Move to pick position via PTP
Palletizing position number by +1
Loop begging when PINC successful
Zigzag offset = 10 mm
End palletizing number 2 setting