IAI America XSEL-KET - Manual (Page 8)

INTELLIGENT ACTUATOR
Table of Contents
Chapter 2 Explanation of Commands .............................................................................................. 101
1. Commands ............................................................................................................................. 101
Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note ........................ 244
1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC,
CIRS, ARCS] ...................................................................................................................... 244
2. PATH/PSPL Commands ......................................................................................................... 246
3. CIR/ARC Commands ............................................................................................................. 246
4. CIR2/ARC2/ARCD/ARCC Commands................................................................................... 246
Chapter 4 Palletizing Function ......................................................................................................... 247
1. How to Use ............................................................................................................................. 247
2. Palletizing Setting ................................................................................................................... 247
3. Palletizing Calculation ............................................................................................................ 253
4. Palletizing Movement ............................................................................................................. 254
5. Program Examples ................................................................................................................. 256
Chapter 5 Pseudo-Ladder Task........................................................................................................ 264
1. Basic Frame............................................................................................................................ 264
2. Ladder Statement Field .......................................................................................................... 265
3. Points to Note ......................................................................................................................... 265
4. Program Example................................................................................................................... 266
Chapter 6 Application Program Examples ....................................................................................... 267
1. Operation by Jog Command................................................................................................... 267
2. Operation by Point Movement Command .............................................................................. 270
3. Palletizing Operation .............................................................................................................. 273
Part 5 Multi-Tasking................................................................................................................................... 276
Chapter 1 Real-Time Multi-Tasking .................................................................................................. 276
1. SEL Language ........................................................................................................................ 276
2. Multi-Tasking........................................................................................................................... 277
3. Difference from a Sequencer.................................................................................................. 278
4. Release of Emergency Stop ................................................................................................... 279
5. Program Switching.................................................................................................................. 280
Chapter 2 Example of Building a System......................................................................................... 281
1. Equipment............................................................................................................................... 281
2. Operation ................................................................................................................................ 281
3. Overview of the Screw-Tightening System............................................................................. 282
4. Hardware ................................................................................................................................ 283
5. Software.................................................................................................................................. 285
Appendix 287
 Actuator Specification List ........................................................................................................ 287
 Programming Method............................................................................................................... 292
1. Position Table ......................................................................................................................... 292
2. Program Format...................................................................................................................... 293
3. Positioning to Five Positions................................................................................................... 294
4. How to Use TAG and GOTO .................................................................................................. 295