IAI America S-SEL-E - Manual (Page 100)

Page 95
Move
Screw
X,Y Move
Screw
Screw Preparation
Screw Preparation
2. Multi-tasking
"Multi Tasking" simply means running multiple programs concurrently.
Let us consider a screwdriving robot system as an example. The following screwdriving system is composed of two
actuators (X axis and Y axis) and a screwdriver with the part feeder.
System Flow
[Screwdriving] Parts Feeder
Chapter 3. Multi-tasking
The following is a simple flowchart that shows the multi-tasking operation used when it is necessary to move a part
feeder at the same time the XY actuator is operating.
Program 1 Start
Move
Tighten screw
Tighten screw
Move
Program 2
Parts feeder ON
Start
Screw OK
Not enough screws
Timer
Parts feeder OFF
↓
↓
↓