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Code Example, SCARA Work Envelope 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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