IAI America XSEL-KET - Manual (Page 245)

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Part 4 Commands
INTELLIGENT ACTUATOR

PSLI (Set zigzag)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PSLI
Offset
amount
(Count) CP
Set a zigzag palletizing.
The value specified in operand 1 will be set as the offset amount for even-numbered rows.
The count specified in operand 2 will be set as the count for even-numbered rows.
(Refer to “Palletizing Setting” – “Zigzag setting” under "How to Use.")
If operand 2 is not specified, the count for even-numbered rows will become the same as the count for
odd-numbered rows.
If a setting is performed by 3-point teaching with PAPS (set palletizing points), the PX and PY-axes need
not be parallel with the physical axes. In this case, the offset will apply in parallel with the PX-axis. If the
offset is a positive value, the absolute value of offset will be applied toward the end-point direction of the
PX-axis. If the offset is a negative value, the absolute value will be applied toward the start-point
direction.
If this command is executed before a BGPA is declared (= while palletizing setting is not enabled), an
error will generate.
If the output field is specified, the output will turn ON after this command is executed.