IAI America SSEL User Manual
Page 9
Table of Contents
1.2
Arithmetic Operation...................................................................................................... 109
1.3
Function Operation ........................................................................................................ 112
1.4
Logical Operation .......................................................................................................... 115
1.5
Comparison Operation .................................................................................................. 118
1.6
Timer.............................................................................................................................. 119
1.7
I/O, Flag Operation ........................................................................................................ 122
1.8
Program Control ............................................................................................................ 134
1.9
Task Management ......................................................................................................... 137
1.10 Position Operation ......................................................................................................... 142
1.11
Actuator Control Declaration ......................................................................................... 157
1.12 Actuator Control Command........................................................................................... 173
1.13 Structural IF ................................................................................................................... 196
1.14 Structural DO ................................................................................................................. 199
1.15 Multi-Branching.............................................................................................................. 201
1.16 System Information Acquisition ..................................................................................... 205
1.17 Zone .............................................................................................................................. 208
1.18 Communication.............................................................................................................. 212
1.19 String Operation............................................................................................................. 219
1.20 Arch-Motion-Related ..................................................................................................... 228
1.21 Palletizing-Related ........................................................................................................ 233
1.22 Palletizing Calculation Command.................................................................................. 240
1.23 Palletizing Movement Command................................................................................... 243
1.24 Building of Pseudo-Ladder Task.................................................................................... 245
1.25 Extended Command...................................................................................................... 247
Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note........................ 250
1.
Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC] .. 250
2.
PATH/PSPL Commands .......................................................................................................... 252
3.
CIR/ARC Commands............................................................................................................... 252
4.
CIR2/ARC2/ARCD/ARCC Commands .................................................................................... 252
Chapter 5 Palletizing Function (2-axis Specification) ...................................................................... 253
1.
How to Use .............................................................................................................................. 253
2.
Palletizing Setting .................................................................................................................... 253
3.
Palletizing Calculation.............................................................................................................. 258
4.
Palletizing Movement............................................................................................................... 259
5.
Program Examples .................................................................................................................. 260
Chapter 6 Pseudo-Ladder Task ....................................................................................................... 262
1.
Basic Frame............................................................................................................................. 262
2.
Ladder Statement Field............................................................................................................ 263