IAI X-SEL PX, Operation Manual, Page: 320 / 560

293
Part 4 Commands
1.20 Palletizing-Related

BGPA (Declare start of palletizing setting)
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 BGPA
Palletizing
number
Prohibited CP
Declare the start of a palletizing setting.
Once this command is executed, palletizing setting for the palletizing number specified in operand 1 will
be enabled.
(In the case of an ACHZ, AEXT, OFAZ or ATRG command, setting is enabled without declaring BGPA.)
The input range of palletizing number is from 1 to 10.
When the palletizing setting is complete, execute EDPA.
Nested BGPAs are not supported. To declare start of another palletizing setting, execute an EDPA
command and then execute a BGPA command again.
If the output field is specified, the output will turn ON after this command is executed.
(Note) Using a GOTO command to branch out of or into a BGPA-EDPA syntax is prohibited.

EDPA (Declare end of palletizing setting)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Prohibited Prohibited EDPA Prohibited Prohibited CP
Declare the end of a palletizing setting.
If a palletizing-setting command (excluding BGPA, ACHZ, ATRG, AEXT and OFAZ) is executed before
another BGPA is declared following an execution of this command (= 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.
294
Part 4 Commands

PAPI (Set palletizing counts)
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 PAPI Count Count CP
Set counts in the palletizing-axis directions.
The count specified in operand 1 will apply to the preferential-axis (PX-axis) direction, while the count
specified in operand 2 will apply to the PY-axis direction.
If this command is executed before 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.

PAPN (Set palletizing pattern)
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 PAPN Pattern
number
Prohibited CP
Set a palletizing pattern.
The palletizing pattern specified in operand 1 will be set (1 = Pattern 1, 2 = Pattern 2).
If this command is not declared, pattern 1 will be used.
If this command is executed before 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.
296