IAI RoboNet Operation Manual page 125

(5) Operation by Relative Coordinate Specification
The target position in the position table can also be specified in relative coordinates. This function can be used to repeat
positioning operations at equal pitches.
[1] Example of operation in the positioner 1, 2 mode
The following explains an example of positioning operation repeated at a 50-mm pitch, starting from position No. 1.
The position table shown below is created. End of operation is determined based on the count managed by the PLC.
The zone signal can be used to doubly confirm that operation has ended.
Zone output signal
Example of Position Table
Position
On the teaching pendant, this sign indicates that the position is specified in relative coordinates.
Position 1
The coordinate immediately before the last load is set as the + boundary.
Zone+ Zone-
50-mm
pitch
Incremental
Part 1 Specification
Direction of front end
Last load
Comment
105