IAI America SSEL - Manual (Page 282)

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Part 2 Programs
5. Program Examples
(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)
The example below specifies movement only and does not cover picking operation.
PY-axis end-point coordinates
Position No. 4
(69, 143)
PX-axis end-point coordinates
Position No. 3
(152, 71)
Reference point
Position No. 2
(70, 70)
z Picking position
Position No. 1
Start of palletizing No. 1 setting
Palletizing count = 3 x 7
3-point teaching setting
Zigzag offset = 20 mm
End of palletizing No. 1 setting
PTP movement through palletizing points
PTP movement to pickup position
Palletizing position number + 1
Back to beginning of loop if PINC is successful
Speed = 200 mm/sec
Movement to pickup position
Setting of palletizing position number to 1