Chapter 5. option – IAI America S-SEL-E User Manual
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Chapter 5.
Option
Procedure
This procedure explains the process for programming the application examples.
1)
Set characters (terminating characters) "LF" to indicate the ending of the character string.
2)
Open channel 1to use channel 1 in the RS232C unit.
3)
If channel 1 receives a signal, the first column of the local string takes the signal in.
4)
When the received data is "HOME", Axis-2 performs homing. After homing is completed, an "OK" signal will
be sent back.
5)
When the received data is "MOVE", the velocity data is converted into binary notation and set in variable 10. The
position data is also converted into binary notation and set in position no.1. When the motion is completed, an
"OK" signal will be sent back.
Application Program
Step
No.
N
Op-Code
Operand 1
Operand 2
Post
Comment
1
SCHA
10
Set LF as terminating characters
2
OPEN
1
Open SIO Channel 1
3
TAG
1
4
READ
1
1
Read in one line from SIO
5
6
ISEQ
1
'HOME'
HOME command
7
HOME
11
Homing
8
EXSR
1
Send OK signal
9
EDIF
10
11
ISEQ
1
'MOVE'
If a MOVE command
12
SLEN
3
3 lines for length
13
VAL
10
5
Velocity
à
Variable 10
14
VEL
*10
Set velocity
15
16
PCLR
1
1
Clear position 1
17
SLEN
3.3
18
VAL
199
8
Axis 1 position
à
Variable 199
19
PPUT
1
1
Set 1 data
20
21
VAL
199
15
Axis 2 position
à
Variable 199
22
PPUT
2
1
Set axis 2 data
23
MOVL
1
Move
24
EXSR
1
Send OK signal
25
EDIF
26
27
GOTO
1
28
29
BGSR
1
Send OK signal subroutine
30
SCPY
1
'OK'
Set OK
31
SPUT
3
13
Set CR
32
SPUT
4
10
Set LF
33
WRIT
1
1
Send signal
34
EDSR