IAI X-SEL

316
INTELLIGENT ACTUATOR
Part 4 Commands
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
31 TAG 1 Beginning of loop processing
32 PACH 1 9 Palletizing arch motion
33 Z point specified by Position No. 9
34 ARCH 8 9 Arch motion
35 Z point specified by Position No. 9
36 PINC 1 600
Increment palletizing position
number by 1.
37 600 GOTO 1
Go to beginning of loop if PINC is
successful.
38
39 EXIT End of task
40
No. Axis 1 Axis 2 Axis 3 Axis 4 Remarks
1 100.000 100.000 100.000 *.*** Reference point data
2 *.*** *.*** *.*** *.*** (Not used)
3 *.*** *.*** *.*** *.*** (Not used)
4 *.*** *.*** 50.000 *.*** Arch-trigger point data
5 *.*** *.*** *.*** *.*** (Not used)
6 *.*** *.*** *.*** *.*** (Not used)
7 *.*** *.*** *.*** *.*** (Not used)
8 0.000 0.000 100.000 0.000 Picking-position point data
9 *.*** *.*** 0.000 *.*** Z point data
10