IAI America XSEL-QX - Manual (Page 12)

Table of Contents
1. How to Use .............................................................................................................................. 359
2. Palletizing Setting .................................................................................................................... 359
3. Palletizing Calculation ............................................................................................................. 365
4. Palletizing Movement .............................................................................................................. 366
5. Program Examples .................................................................................................................. 368
Chapter 6 Pseudo-Ladder Task ........................................................................................................ 372
1. Basic Frame............................................................................................................................. 372
2. Ladder Statement Field ........................................................................................................... 373
3. Points to Note .......................................................................................................................... 373
4. Program Example.................................................................................................................... 374
Chapter 7 Multi-Tasking .................................................................................................................... 375
1. Difference from a Sequencer................................................................................................... 375
2. Release of Emergency Stop .................................................................................................... 376
3. Program Switching .................................................................................................................. 377
Appendix ................................................................................................................................... 378
List of Additional Linear Movement Axis Specifications........................................................... 378
How to Write Programs ........................................................................................................... 384
1. Position Table.............................................................................................................. 384
2. Program Format.......................................................................................................... 385
3. Positioning to 5 Positions (for Linear Axes) ................................................................ 386
4. How to Use TAG and GOTO....................................................................................... 387
5. Back-and-Forth Operation between 2 Points (for Linear Axes).................................. 388
6. Path Operation............................................................................................................ 389
7. Output Control during Path Movement ....................................................................... 390
8. Circular, Arc Operation................................................................................................ 391
9. Output of Home Return Complete Signal (for Linear Axes) ....................................... 392
10. Axis Movement by Input Waiting and Output of Complete Signal .............................. 393
11. Change of Moving Speed (for Linear Axes)................................................................ 394
12. Speed Change during Operation ................................................................................ 395
13. Local/Global Variables and Flags ............................................................................... 396
14. How to Use Subroutines ............................................................................................. 397
15. Pausing of Operation .................................................................................................. 398
16. Aborting of Operation 1 (CANC) ................................................................................. 399
17. Aborting of Operation 2 (STOP) ................................................................................. 400
18. Movement by Position Number Specification ............................................................. 401
19. Movement by External Position Data Input (for Linear Axes)..................................... 402
20. Output of Coordinate Values....................................................................................... 403
21. Conditional Jump ........................................................................................................ 404
22. Waiting for Multiple Inputs........................................................................................... 405
23. How to Use Offsets (for Linear Axes) ......................................................................... 406
24. Execution of Operation n Times ................................................................................. 407
25. Constant Pitch Feed Operation (for Linear Axes)....................................................... 408
26. Jogging (for Linear Axes)............................................................................................ 409
27. Program Switching...................................................................................................... 410
28. Aborting of Program.....................................................................................................411
General-purpose RS232 (2-channel RS232 Unit)................................................................... 412