IAI America ASEL - Manual (Page 9)

Table of Contents
Chapter 3 Explanation of Commands ................................................................................................... 95
1. Commands .................................................................................................................................... 95
1.1 Variable Assignment .......................................................................................................... 95
1.2 Arithmetic Operation .......................................................................................................... 98
1.3 Function Operation .......................................................................................................... 101
1.4 Logical Operation............................................................................................................. 104
1.5 Comparison Operation..................................................................................................... 107
1.6 Timer................................................................................................................................ 108
1.7 I/O, Flag Operation ...........................................................................................................111
1.8 Program Control............................................................................................................... 122
1.9 Task Management............................................................................................................ 125
1.10 Position Operation ........................................................................................................... 130
1.11 Actuator Control Declaration............................................................................................ 145
1.12 Actuator Control Command ............................................................................................. 161
1.13 Structural IF...................................................................................................................... 184
1.14 Structural DO ................................................................................................................... 187
1.15 Multi-Branching................................................................................................................ 189
1.16 System Information Acquisition........................................................................................ 193
1.17 Zone................................................................................................................................. 196
1.18 Communication................................................................................................................ 200
1.19 String Operation............................................................................................................... 207
1.20 Arch-Motion-Related........................................................................................................ 216
1.21 Palletizing-Related........................................................................................................... 221
1.22 Palletizing Calculation Command.................................................................................... 228
1.23 Palletizing Movement Command..................................................................................... 231
1.24 Building of Pseudo-Ladder Task ...................................................................................... 233
1.25 Extended Command ........................................................................................................ 235
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note ........................... 238
1. Continuous Movement Commands............................................................................................. 238
2. PATH/PSPL Commands.............................................................................................................. 240
3. CIR/ARC Commands .................................................................................................................. 240
4. CIR2/ARC2/ARCD/ARCC Commands........................................................................................ 240
Chapter 5 Palletizing Function (2-axis Specification).......................................................................... 241
1. How to Use.................................................................................................................................. 241
2. Palletizing Setting........................................................................................................................ 241
3. Palletizing Calculation ................................................................................................................. 246
4. Palletizing Movement .................................................................................................................. 247
5. Program Examples...................................................................................................................... 248