IAI America ASEL - Manual (Page 276)

Chapter 7
Application Program Examples
Part 2 Programs
254
Part 2 Programs
(2) Explanation of the operation
1. Wait for the axis-1 movement pushbutton switch to turn ON.
2. The X-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
3. Wait for the axis-2 movement pushbutton switch to turn ON.
4. The Y-axis moves while the pushbutton switch is ON, and stops when the switch turns OFF.
5. Output a start command to the hand control unit.
6. Wait for an operation completion input from the hand control unit.
7. Move to the home after the input is received.
The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:
Operation Position
I/O Assignments
Category I/O No. Signal name Specification
16
Axis-1 movement
command
Pushbutton switch
17
Axis-2 movement
command
Pushbutton switch Input
18
Hand operation
completion
External control unit
Output 307 Hand start
command
24 VDC
AS
EL
* Flag is not used.
Operation Flow Chart
Operation home
Arbitrary distance
Arbitrary
distance
Axis
2
Hand control unit
Axis 1
Start
Axis 1
switch ON
Axis 1 operates in forward
direction
Axis 1
switch OFF
Axis 1 stops
Axis 2
switch ON
Axis 2 operates in forward
direction
Axis 2
switch OFF
Axis 2 stops
Hand-control-unit start
command ON
Complete
Hand-control-unit start
command OFF
Move to home position
N
N
N
N
N
Y
Y
Y
Y
Y