//Pick and Place Pallet defined by 3 points
//For demonstration purposes only
//Lines beginning with " * " are comments
//Pallet defined by 3 points - motion only
,,,,,,,
,,,HOME,,,,INC systems only
,,,VEL,200,,,200 mm/s
//BGPA - Begin pallet definition
,,,BGPA,1,,,
,,,PAPI,4,3,,4 x 3 pallet
,,,PAPN,1,,,
,,,PAPS,2992,,,
,,,EDPA,,,,
//Position 2992,2993 &2994 are the 3 corners
//of the pallet. They will automatically
//adjust for slanted or skewed pallets.
,,,,,,,
,,,TAG,2,,,
,,,PSET,1,1,,Start at 1st point
,,,TAG,1,,,in pallet
,,,MOVL,1,,,Move to pick
,,,TIME,0.25,,,Wait 0.25 sec
,,,PMVL,1,,,Move to pallet
,,,PINC,1,,900,Increment pallet
,,,TIMW,0.25,,,Wait 0.25 sec
,,900,GOTO,1,,,
,,,GOTO,2,,,