IAI PSEL, Operation Manual

Page: 667 / 1062

3. Program
173
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
31 TAG 1 Beginning of loop process
32 PACH 1 9 Palletizing arch motion
33 Z point specified under position No. 9
34 ARCH 8 9 Arch motion
35 Z point specified under position No. 9
36 PINC 1 600
Increment palletizing position
number by 1
37 600 GOTO 1
Move to beginning of loop if PINC
was successful
38
39 EXIT End task
40
No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks
1 100.000 100.000 100.000
.
Position data of reference point
2
. . . .
(Not used)
3
. . . .
(Not used)
4 . . 50.000 . Position data for arch trigger
5 . . . . (Not used)
6
. . . .
(Not used)
7
. . . .
(Not used)
8 0.000 0.000 100.000 0.000 Position data of pick position
9 . . 0.000 . Z position data
10