Chapter 4. programming, 3) super sel controller application program – IAI America S-SEL-E User Manual
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Chapter 4. Programming
(3) Super SEL Controller Application Program
S te p
A /O
N
O P - C o d e
O p e r a n d 1
O p e r a n d 2
P o s t
C o m m e n ts
1
H O M E
11
X a n d Y a x is h o m in g
2
V E L
1 0 0
V e lo c ity 1 0 0 m m /s s e ttin g
3
A C C
0 .2
A c c e le r a tio n 0 .2 G
4
TA G
1
5
L E T
3 0 0
0
V a r ia b le c le a r
6
L E T
3 0 1
0
V a r ia b le c le a r
7
O F S T
11
0
O ffs e t v a lu e c le a r
8
M O V L
1 8
M o v e to p o s itio n n o . 1 8
9
W T O N
1 7
W a it fo r s ta r t in p u t
1 0
B T O F
3 1 2
O u tp u t 3 1 2 O F F
11
TA G
2
1 2
O F S T
11
0
O ffs e t v a lu e c le a r
1 3
M O V L
1 7
M o v e to p o s itio n n o . 1 7
1 4
E X S R
1
C h u c k s u b r o u tin e c a ll ( C h u c k )
1 5
O F S T
1
* 3 0 0
X - A x is , V a r ia b le 3 0 0 o ffs e t
1 6
O F S T
1 0
* 3 0 1
Y - A x is , V a r ia b le 3 0 1 o ffs e t
1 7
M O V L
1
M o v e to p o s itio n n o . 1 + o ffs e t v a lu e
1 8
E X S R
1
C h u c k s u b r o u tin e c a ll ( u n c h u c k )
1 9
A D D
3 0 0
2 0
A d d 2 0 to v a r ia b le 3 0 0
2 0
C P E Q
3 0 0
8 0
6 0 0
W h e n v a ria b le 3 0 0 = 8 0 , fla g 6 0 0 O N
2 1
N 6 0 0
G O T O
2
If fla g 6 0 0 is O F F, ju m p to ta g 2
2 2
L E T
3 0 0
0
V a r ia b le 3 0 0 c le a r
2 3
A D D
3 0 1
3 0
A d d 3 0 to v a r ia b le 3 0 1
2 4
C P E Q
3 0 1
1 2 0
6 0 1
W h e n v a ria b le 3 0 1 = 1 2 0 , fla g 6 0 1 O N
2 5
N 6 0 1
G O T O
2
If fla g 6 0 1 is O F F, ju m p to ta g 2
2 6
B T O N
3 1 2
O u tp u t 3 1 2 O N
2 7
G O T O
1
J u m p t to ta g 1
2 8
B G S R
1
C h u c k s u b r o u tin e s ta r t
2 9
B T O N
3 1 0
Z - A x is c y lin d e r d o w n
3 0
W T O N
1 6
L o w e r lim it in p u t w a itin g
3 1
B T N T
3 11
A ir c h u c k o u tp u t r e v e r t
3 2
T IM W
0 .5
T im e r 0 .5 s e c o n d s
3 3
B T O F
3 1 0
Z - A x is c y lin d e r u p
3 4
W T O N
1 5
U p p e r lim it in p u t w a itin g
3 5
E D S R
C h u c k s u b r o u tin e e n d
3 6
3 7
3 8
3 9