IAI America SSEL - Manual (Page 283)

261
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
Start of palletizing No. 2 setting
Palletizing count = 4 x 5
PX-axis = Axis 1, PY-axis = Axis 2
Pitch X = 20, Y = 15
Position No. 11 = Reference point
Zigzag offset = -10 mm
End of palletizing No. 2 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