Okura Yusoki A Series Manual page 108

6.5.2. The position command list
Position data to change depending
Commands
on stacking layers/products
FIX No change
ZSF Change every layer
ALT
ALL
TZF
LZF
Change both every product and
layer
SPL
SZF
AZA
TZA
SP1
SP2
Cloned by other step
SP3
SP4
Caution:
In case of multi-pallet on floor, height data except for FIX and TZF changes
depending on number of pallets when arm moves. However, those don't
change when step command is HWT, STA or HLD.
Number of memory points
1 point/plane, 1/height
1/plane, all layers/height
1 full layer / plane column stacking
2 full layers/ plane alt stacking
All layers / height
All products stacked except same
pattern setting / plane
All layers / height
1 full layer / plane column stacking
2 full layers/ plane alt stacking
1 layer / height
All products stacked except same
pattern setting / plane
1 layer / height
All products stacked except same
pattern setting / plane
All layers / height
All products stacked except same
pattern setting / plane
1 layer / height
All products stacked except same
pattern setting / plane
All layers / height
1 full layer / plane column stacking
2 full layers/ plane alt stacking
All layers / height
Not position data but functions to
calculate positions
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