IAI America XSEL-KET User Manual
Page 291
272
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
XY-table returns to home
(servo ON).
2
VEL
400
Set speed to 400 mm/s.
3 TAG
1
4 MOVL 1
Move to work home at
position No. 1.
5
LET
1
2
Set 2 in load counter.
6
BTOF
600
Clear
completion
flag.
7
WTON
16
Wait for start command.
8 TAG
2
9
MOVL
*1
Move to load counter position.
10
BTON
309
Riveting command turns ON.
11
WTON
17
Wait for riveting to complete.
12
BTOF
309
Riveting command turns OFF.
13
ADD
1
1
Increment load counter by 1.
14
CPEQ
1
5
600
Turns ON flag if operation is
complete.
15 N 600 GOTO 2
Jump to TAG2 if not
complete.
16
GOTO
1
Jump to TAG1 if complete.
17
18
19
20
21
22
23
24
25
26
27
28
29
30
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