IAI PSEL, Operation Manual

Page: 664 / 1062

3. Program
170
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
31 MOVP 8 Move to pick position
32
33 TAG 1 Beginning of loop process
34 PACH 1 9 Palletizing arch motion
35 Z point specified under position No. 9
36 ARCH 8 9 Arch motion
37 Z point specified under position No. 9
38 PINC 1 600
Increment palletizing position
number by 1
39 600 GOTO 1
Move to beginning of loop if PINC
was successful
40
41 EXIT End task
42
43
44
45
No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks
1 100.000 100.000 100.000 . Position data of reference point
2 260.000 105.000 100.000
.
Position data PX-axis end point
3 95.000 280.000 100.000
.
Position data PY-axis end point
4
. .
50.000
.
Position data for arch trigger
5 . . . . (Not used)
6 . . . –1.79 Position data for composite palletizing
7 . . . . (Not used)
8 0.000 0.000 100.000 0.000 Position data of pick position
9
. .
0.000
.
Z position data
10