IAI America XSEL-KE - Manual (Page 291)

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Part 5 Multi-Tasking
5. Software
(1) Control flow chart
Main program:
Screw-tightening
machine
Program 1
Start program 2
Align origin
Start screw tightening (pushbutton)
Move
Z-axis air cylinder
down
Start screw tightening
Screw tightening
complete
Z-axis air cylinder up
6 screws
tightened?
Screw
tightening
complete?
Stop program 2
Stop parts feeder
End
YES
YES
NO
NO
Sub program:
Parts feeder
Program 2
Screws short
Parts feeder ON
Screws fully loaded
Parts feeder OFF
5 seconds on timer