IAI America XSEL-S - Manual (Page 42)

5. V
ision System I/F Function Setting
36
Example 1 : When holding with grip
(grip when I/O Port 314 is ON and release when 315 is ON)
BTOF (314) ĸI/O Port No. (314) turns OFF
TIMW (0.1) ĸKeep time for electromagnetic valve to turn OFF
BTON (315) ĸI/O Port No. (315) turns ON (release)
TIMW (0.03) ĸRetain the release time
BTOF (315) ĸI/O Port No. (315) turns OFF
GOTO 57 ĸTo the process of work release success
Example 2 : When holding with an electrical gripper connectable to XSEL (connected to the
4th axis)
GRP (1000) ĸCommand to make only gripper available for operation
MOVP (30) ĸPosition number when the gripper is open
GRP (111) ĸCommand to make all the operations available except for gripper
GOTO 57 ĸTo the process of work release success
Write the program for “Release” here
(Z-axis is lowered enough to hold the work.)
If a sensor to judge the success/fail of the release is to be added, add;
• a command to jump to TAG 57 after success (Write GOTO 57), and
• a command to jump to TAG 58 if fail (Write GOTO 58)
(Rise of Z-axis is conducted automatically later on.)