IAI America ASEL User Manual
Page 10
Table of Contents
Chapter 6
Pseudo-Ladder Task........................................................................................................... 250
1. Basic Frame ................................................................................................................................ 250
2. Ladder Statement Field ............................................................................................................... 251
3. Points to Note.............................................................................................................................. 251
4. Program Example........................................................................................................................ 252
Chapter 7
Application Program Examples .......................................................................................... 253
1. Operation by Jog Command [Doll-Picking Game Machine]........................................................ 253
2. Operation by Point Movement Command [Riveting System]...................................................... 256
Chapter 8
Real-Time Multi-Tasking..................................................................................................... 259
1. SEL Language............................................................................................................................. 259
2. Multi-Tasking ............................................................................................................................... 260
3. Difference from a Sequencer ...................................................................................................... 261
4. Release of Emergency Stop........................................................................................................ 262
5. Program Switching ...................................................................................................................... 263
Chapter 9
Example of Building a System............................................................................................ 264
1. Equipment ................................................................................................................................... 264
2. Operation..................................................................................................................................... 264
3. Overview of the Screw-Tightening System ................................................................................. 265
4. Hardware..................................................................................................................................... 266
5. Software ...................................................................................................................................... 267
Chapter 10 Example of Building a System............................................................................................ 269
1. Position Table .............................................................................................................................. 269
2. Programming Format .................................................................................................................. 270
3. Positioning to Five Positions ....................................................................................................... 271
4. How to Use TAG and GOTO ....................................................................................................... 272
5. Moving Back and Forth between Two Points .............................................................................. 273
6. Path Operation ............................................................................................................................ 274
7. Output Control during Path Movement........................................................................................ 275
8. Circle/Arc Operation.................................................................................................................... 276
9. Home Return Completion Output................................................................................................ 277
10. Axis Movement by Input Waiting and Completion Output........................................................... 278
11. Changing the Moving Speed ....................................................................................................... 279
12. Changing the Speed during Operation........................................................................................ 280
13. Local/Global Variables and Flags................................................................................................ 281
14. How to Use Subroutines.............................................................................................................. 282
15. Pausing the Operation................................................................................................................. 283
16. Canceling the Operation 1 (CANC)............................................................................................. 284
17. Canceling the Operation 2 (STOP) ............................................................................................. 285
18. Movement by Position Number Specification.............................................................................. 286
19. Movement by External Position Data Input ................................................................................. 287