IAI America SSEL User Manual
Page 10
3.
Points to Note .......................................................................................................................... 263
4.
Program Example .................................................................................................................... 264
Chapter 7 Application Program Examples....................................................................................... 265
1.
Operation by Jog Command.................................................................................................... 265
2.
Operation by Point Movement Command ............................................................................... 268
Chapter 8 Real-Time Multi-Tasking ................................................................................................. 271
1.
SEL Language ......................................................................................................................... 271
2.
Multi-Tasking............................................................................................................................ 272
3.
Difference from a Sequencer................................................................................................... 273
4.
Release of Emergency Stop .................................................................................................... 274
5.
Program Switching................................................................................................................... 275
Chapter 9 Example of Building a System ........................................................................................ 276
1.
Equipment................................................................................................................................ 276
2.
Operation ................................................................................................................................. 276
3.
Overview of the Screw-Tightening System.............................................................................. 277
4.
Hardware ................................................................................................................................. 278
5.
Software................................................................................................................................... 279
Chapter 10 Method of Building a System ........................................................................................ 281
1.
Position Table .......................................................................................................................... 281
2.
Programming Format............................................................................................................... 282
3.
Positioning to Five Positions.................................................................................................... 283
4.
How to Use TAG and GOTO ................................................................................................... 284
5.
Moving Back and Forth between Two Points .......................................................................... 285
6.
Path Operation......................................................................................................................... 286
7.
Output Control during Path Movement .................................................................................... 287
8.
Circle/Arc Operation ................................................................................................................ 288
9.
Output of Home Return and Home Return Complete Signal ................................................. 289
10. Axis Movement by Input Waiting and Completion Output ....................................................... 290
11. Changing the Moving Speed ................................................................................................... 291
12. Changing the Speed during Operation .................................................................................... 292
13. Local/Global Variables and Flags ............................................................................................ 293
14. How to Use Subroutines .......................................................................................................... 294
15. Pausing the Operation ............................................................................................................. 295
16. Canceling the Operation 1 (CANC) ......................................................................................... 296
17. Canceling the Operation 2 (STOP).......................................................................................... 297
18. Movement by Position Number Specification .......................................................................... 298
19. Movement by External Position Data Input ............................................................................. 299
20. Conditional Jump ..................................................................................................................... 300
21. Waiting Multiple Inputs............................................................................................................. 301