Chapter 3. multi-tasking – IAI America S-SEL-E User Manual
Page 108
Page 103
(3) Sub Program
Screw Feeding • Program No. 2
Application Program
(2) Main Program
Screwdriving • Program No. 1
Application Program
Position Program
Chapter 3. Multi-tasking
N o .
X
Y
1
3 0
3 0
2
6 0
3 0
3
9 0
3 0
4
3 0
6 0
5
6 0
6 0
6
9 0
6 0
Line
Expansion
Input
Commands
Output
Comment
AND/OR
I/O·Flag
Command Operand 1 Operand 2
Output port·Flag
1
EXPG
2
Program 2 start
2
HOME
11
Homing
3
VEL
100
Velocity 100mm/sec
4
ACC
0.3
Acceleration 0.3G
5
TAG
1
Restart Jump target
6
WTON
6
Screwdriving start Push Button
7
LET
1
1
Screw counter set
8
TAG
2
1 screw complete Jump target
9
MOVL
*1
Move
10
BTON
303
Z axis air cylinder down
11
BTON
304
Screwdriving start
12
WTON
16
Screwdriving complete
13
BTOF
303
304
Air cylinder up, screwdriving stop
14
WTON
15
Z axis air cylinder upper edge check
15
ADD
1
1
Screw counter +1
16
CPEQ
1
7
900
6 screws complete Compare
17
N900
GOTO
2
1 screw complete To the next screwdriving
18
N007
GOTO
1
Screwdriving To restart
19
ABPG
2
Program 2 stop
20
BTOF
305
Parts feeder stop
21
EXIT
Program 1 end
Line
Expansion
Input
Commands
Output
Comment
AND/OR
I/O·Flag Command Operand 1 Operand 2 Output port·Flag
1
TAG
1
Repeated jump target
2
WTOF
17
Parts feeder depleted
3
BTON
305
Parts feeder start
4
WTON
17
Parts feeder full
5
BTOF
305
Parts feeder stop
6
TIMW
5
Restart Timer 5 seconds
7
GOTO
1
Repeat