Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 265)

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Part 4 Commands

Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

31 MOVP 8 Move to picking position.

33 TAG 1 Beginning of loop processing

34 PACH 1 9 Palletizing arch motion

Z point specified by Position

No. 9

36 ARCH 8 9 Arch motion

Z point specified by Position

No. 9

38 PINC 1 600

Increment palletizing position

number by 1.

39 600 GOTO 1

Go to beginning of loop if

PINC is successful.

41 EXIT End of task

No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks

1 100.000 100.000 100.000 *.*** Reference point data

2 260.000 105.000 100.000 *.*** PX-axis end-point data

3 95.000 280.000 100.000 *.*** PY-axis end-point data

4 *.*** *.*** 50.000 *.*** Arch-trigger point data

5 *.*** *.*** *.*** *.*** (Not used)

6 *.*** *.*** *.*** -1.79

Palletizing-composition point

data

7 *.*** *.*** *.*** *.*** (Not used)

8 0.000 0.000 100.000 0.000 Picking-position point data

9 *.*** *.*** 0.000 *.*** Z point data

1 2 ... 260 261 262 263 264 265 266 267 268 269 270 ... 423 424

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Iai-america XSEL-KE Manuel d'utilisateur Page 265

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