The SCARA software is shipped without the OFST command available. The following example demonstrates a palletizing operation on the SCARA without using the OFST command.

Features of this program:

• E-stop recovery
• Code for a two-pallet system (pick from pallet, place on pallet)
• Both pallets have offsets between rows and columns of 1.5mm
• Both pallets have 6 columns and 5 rows
• The SCARA moves at 40% max velocity and 30% max acceleration
• Outputs and dwells are set up for vacuum-type end effectors

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Related posts:

1. Code Example: Palletizing
2. Code Example: Palletizing with Recovery
3. Code Examples: SCARA Arm Modes
4. Code Example: IX SCARA Coordinates and Homing
5. Code Example: Jump Command