Part 4 Commands
(2) Program example using PASE, PAPT and PAST
The example below specifies movement only and does not cover picking operation.
PTP travel acceleration: 50%
PTP travel deceleration: 50%
CP travel speed: 100 mm/sec
CP travel acceleration: 0.3 G
CP travel deceleration: 0.3 G
Select load coordinate system No. 0.
Select tool coordinate system No. 0.
Start setting palletizing No. 1.
Set reference-point data.
PX-axis = X-axis, PY-axis = Y-axis
Palletizing counts: 5 x 7
Zigzag offset = 20 mm, count = 4
Set palletizing R-axis coordinate.
Palletizing Z-axis = Axis 3
Set palletizing arch triggers.
Arch-motion Z-axis = Axis 3
25
PTPL
Perform positioning in PTP mode using left
arm.
26
Move to picking position in PTP mode.
27
Set palletizing position number to 1.
28
Beginning of loop processing
29
30
31
600
Increment palletizing position number by 1.
32 600
Beginning of loop when PINC is successful.
33
Move to standby position in CP mode.
34
Position data (Stroke with arm length 500)
Reference-point position
Palletizing R-axis position
Arch/palletizing trigger position
Highest position (Z point)
Standby position
Pickup position
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