IAI America XSEL-KE User Manual
Page 268
253
Part 4 Commands
Step
E
N
Cnd
Cmnd
Operand 1
Operand 2
Pst
Comment
31
TAG
1
Beginning of loop processing
32
PACH
1
9
Palletizing arch motion
33
Z point specified by Position No. 9
34
ARCH
8
9
Arch
motion
35
Z point specified by Position No. 9
36
PINC
1
600
Increment palletizing position
number by 1.
37 600 GOTO
1
Go to beginning of loop if PINC is
successful.
38
39
EXIT
End of task
40
No.
Axis 1
Axis 2
Axis 3
Axis 4
Remarks
1 100.000 100.000 100.000
*.***
Reference point data
2
*.*** *.*** *.*** *.***
(Not
used)
3
*.*** *.*** *.*** *.***
(Not
used)
4 *.***
*.*** 50.000 *.***
Arch-trigger
point
data
5
*.*** *.*** *.*** *.***
(Not
used)
6
*.*** *.*** *.*** *.***
(Not
used)
7
*.*** *.*** *.*** *.***
(Not
used)
8
0.000
0.000
100.000
0.000
Picking-position point data
9
*.***
*.***
0.000
*.***
Z point data
10