Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 294)

275

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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