IAI America XSEL-KE - Manual (Page 14)

Table of Contents
Part 4 Commands ......................................................................................76
Chapter 1 List of SEL Language Command Codes ................................................................. 76
Chapter 2 Explanation of Commands ...................................................................................... 86
1. Commands............................................................................................................ 86
Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note .............. 235
1. Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS] ................ 235
2. PATH/PSPL Commands...................................................................................... 237
3. CIR/ARC Commands .......................................................................................... 237
4. CIR2/ARC2/ARCD/ARCC Commands................................................................ 237
Chapter 4 Palletizing Function ............................................................................................... 238
1. How to Use.......................................................................................................... 238
2. Palletizing Setting................................................................................................ 238
3. Palletizing Calculation ......................................................................................... 244
4. Palletizing Movement .......................................................................................... 245
5. Program Examples.............................................................................................. 247
Chapter 5 Pseudo-Ladder Task ............................................................................................. 255
1. Basic Frame ........................................................................................................ 255
2. Ladder Statement Field ....................................................................................... 256
3. Points to Note...................................................................................................... 256
4. Program Example ............................................................................................... 257
Chapter 6 Application Program Examples ............................................................................. 258
1. Operation by Jog Command [Doll-Picking Game Machine]................................ 258
2. Operation by Point Movement Command [Riveting System] .............................. 261
3. Palletizing Operation [Palletizing System]........................................................... 264
Part 5 Multi-Tasking .................................................................................267
Chapter 1 Real-Time Multi-Tasking........................................................................................ 267
1. SEL Language .................................................................................................... 267
2. Multi-Tasking ....................................................................................................... 268
3. Difference from a Sequencer .............................................................................. 269
4. Release of Emergency Stop................................................................................ 270
5. Program Switching .............................................................................................. 271
Chapter 2 Example of Building a System .............................................................................. 272
1. Equipment ........................................................................................................... 272
2. Operation ............................................................................................................ 272
3. Overview of the Screw-Tightening System ......................................................... 273
4. Hardware............................................................................................................. 274
5. Software .............................................................................................................. 276