IAI America XSEL-KET - Manual (Page 294)

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Part 4 Commands
INTELLIGENT ACTUATOR
(3) X-SEL Controller application program
Step E N Cnd Cmnd Operand 1 Operand 2 Pst Comment
1 HOME 11 Axes 1 and 2 return to home.
2 VEL 100 Set speed to 100 mm/s.
3 ACC 0.2 Acceleration/deceleration: 0.2 G
4 TAG 1
5 LET 300 0 Clear variable.
6 LET 301 0 Clear variable.
7 OFST 11 0 Clear offset value.
8 MOVL 18 Move to position No. 18.
9 WTON 18 Wait for start input.
10 BTOF 311 Output 311 turns OFF.
11 TAG 2
12 OFST 11 0 Clear offset value.
13 MOVL 17 Move to position No. 17.
14 EXSR 1 Call chuck subroutine (chuck).
15 OFST 1 *300
Offset axis 1 by value in
variable 300.
16 OFST 10 *301
Offset axis 2 by value in
variable 301.
17 MOVL 1
Move to position No. 1 + offset
value.
18 EXSR 1
Call chuck subroutine
(unchuck).
19 ADD 300 20 Add 20 to variable 300.
20 CPEQ 300 80 600
Turn ON flag 600 if variable 300
= 80.
21 N 600 GOTO 2
Jump to TAG2 if flag 600 is
OFF.
22 LET 300 0 Clear variable 300.
23 ADD 301 30 Add 30 to variable 301.
24 CPEQ 301 120 601
Turn ON flag 601 if variable 301
= 120.
25 N 601 GOTO 2
Jump to TAG2 if flag 601 is
OFF.
26 BTON 311 Output 311 turns ON.
27 GOTO 1 Jump to TAG1.
28 BGSR 1 Start chuck subroutine.
29 BTON 309 Z-axis cylinder down
30 WTON 17 Wait for lower-limit input.
31 BTNT 310 Reverse air-chuck output.
32 TIMW 0.5 Timer: 0.5 second
33 BTOF 309 Z-axis cylinder up
34 WTON 16 Wait for upper-limit input.
35 EDSR End of chuck subroutine
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