IAI America PSEL - Manual (Page 7)

Table of Contents
3. CIR/ARC Commands ................................................................................................................. 246
4. CIR2/ARC2/ARCD/ARCC Commands ...................................................................................... 246
Chapter 5 Palletizing Function (2-axis Specification) ............................................................................ 247
1. How to Use................................................................................................................................. 247
2. Palletizing Setting....................................................................................................................... 247
3. Palletizing Calculation ................................................................................................................ 252
4. Palletizing Movement ................................................................................................................. 253
5. Program Examples..................................................................................................................... 254
Chapter 6 Pseudo-Ladder Task ............................................................................................................. 256
1. Basic Frame ............................................................................................................................... 256
2. Ladder Statement Field .............................................................................................................. 257
3. Points to Note............................................................................................................................. 257
4. Program Example ...................................................................................................................... 258
Chapter 7 Application Program Examples............................................................................................. 259
1. Operation by Jog Command [Doll-Picking Game Machine] ...................................................... 259
2. Operation by Point Movement Command [Riveting System]..................................................... 262
Chapter 8 Real-Time Multi-Tasking........................................................................................................ 265
1. SEL Language............................................................................................................................ 265
2. Multi-Tasking .............................................................................................................................. 266
3. Difference from a Sequencer ..................................................................................................... 267
4. Release of Emergency Stop ...................................................................................................... 268
5. Program Switching ..................................................................................................................... 269
Chapter 9 Example of Building a System .............................................................................................. 270
1. Equipment .................................................................................................................................. 270
2. Operation.................................................................................................................................... 270
3. Overview of the Screw-Tightening System ................................................................................ 271
4. Hardware.................................................................................................................................... 272
5. Software ..................................................................................................................................... 273
Chapter 10 Example of Building a System .............................................................................................. 275
1. Position Table ............................................................................................................................. 275
2. Programming Format ................................................................................................................. 276
3. Positioning to Five Positions ...................................................................................................... 277
4. How to Use TAG and GOTO ...................................................................................................... 278
5. Moving Back and Forth between Two Points ............................................................................. 279
6. Path Operation ........................................................................................................................... 280
7. Output Control during Path Movement ...................................................................................... 281
8. Circle/Arc Operation................................................................................................................... 282
9. Home Return Completion Output............................................................................................... 283
10. Axis Movement by Input Waiting and Completion Output.......................................................... 284
11. Changing the Moving Speed ...................................................................................................... 285
12. Changing the Speed during Operation....................................................................................... 286
13. Local/Global Variables and Flags............................................................................................... 287
14. How to Use Subroutines ............................................................................................................ 288
15. Pausing the Operation ............................................................................................................... 289
16. Canceling the Operation 1 (CANC)............................................................................................ 290
17. Canceling the Operation 2 (STOP) ............................................................................................ 291
18. Movement by Position Number Specification............................................................................. 292
19. Movement by External Position Data Input................................................................................ 293
20. Conditional Jump ....................................................................................................................... 294
21. Waiting Multiple Inputs ............................................................................................................... 295
22. How to Use Offset ...................................................................................................................... 296