IAI America XSEL-KET - Manual (Page 300)

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5. Multi-Tasking
INTELLIGENT ACTUATOR
Chapter 2 Example of Building a System
How to build hardware and software is explained in details by using a screw-tightening robot as an
example.
1. Equipment
Screw-tightening machine (for Z-axis)
Actuators (for axes 1 and 2) IAI’s 60-W servo motor with 300-mm stroke x 2
Controller IAI’s X-SEL Controller
2. Operation
(1) Tighten six screws at 30-mm pitches on axes 1 and 2.
1. The actuators move to a screw-tightening position.
2. The Z-axis air cylinder of the screw-tightening
machine comes down.
3. The screw-tightening machine starts operating.
4. When the screw tightening is complete, the Z-axis
air cylinder rises.
5. The actuators move to the next position.
(2) The parts feeder operates in parallel with the above
operation.
1. The parts feeder starts when screws are short.
2. The parts feeder stops when the screws are fully loaded.
Coordinates
Axis 2
Axis 1
30
30
30
30 30 30
4 5 6
1 2 3