Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 262)

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Part 4 Commands

5. Program Examples

(1) Simple program example (two-axis specification) using PAPS (set by 3-point teaching)

The example below specifies movement only and does not cover picking operation.

Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

1 BGPA 1 Start setting palletizing No. 1.

2 PAPI 3 4 Palletizing counts: 3 x 4

3 PAPS 2 Set by 3-point teaching.

4 EDPA End setting palletizing No. 1.

6 VEL 200 Speed: 200 mm/sec

7 MOVL 1 Move to picking position.

8 PSET 1 Set palletizing position number to 1.

9 TAG 1 1

10 PMVL 1

Move to palletizing position via

interpolation.

11 MOVL 1

Move to picking position via

interpolation.

12 PINC 1 600

Increment palletizing position

number by 1.

13 600 GOTO 1

Beginning of loop if PINC is

successful.

14 EXIT End

No. Axis 1 Axis 2 Vel Acc Dcl Remarks

1 10.000 10.000 Picking position

2 70.000 70.000 Reference-point position data

3 148.000 71.000 PX-axis end-point position data

4 69.000 143.000 PY-axis end-point position data

PY-axis end-point coordinates

Position No. 4

(69, 143)

PX-axis end-point coordinates

Position No. 3

(148, 71)

Reference point

Position No. 2

(70, 70)

Picking position

Position No. 1

1 2 ... 257 258 259 260 261 262 263 264 265 266 267 ... 423 424

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Iai-america XSEL-KE Manuel d'utilisateur Page 262

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