Owner's manual

Table of Contents
Chapter 6 Pseudo-Ladder T
ask........................................................................................................... 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 Sys
tem]...................................................... 256
Chapter 8 Real-Time Multi-T
asking..................................................................................................... 259
1. SEL Language............................................................................................................................. 259
2. Multi-Tasking ............................................................................................................................... 260
3. Difference from a Sequencer
...................................................................................................... 261
4. Release of Emergency Stop........................................................................................................ 262
5. Program Swit
ching ...................................................................................................................... 263
Chapter 9 Example of Building a Sys
tem............................................................................................ 264
1. Equipment ................................................................................................................................... 264
2. Operation
..................................................................................................................................... 264
3. Overview of the Screw-T
ightening System ................................................................................. 265
4. Hardware..................................................................................................................................... 266
5. Software ...................................................................................................................................... 267
Chapter 10 Example of Building a Sys
tem............................................................................................ 269
1. Position T
able .............................................................................................................................. 269
2. Programming Format
.................................................................................................................. 270
3. Positioning to Five Pos
itions ....................................................................................................... 271
4. How to Use T
AG and GOTO ....................................................................................................... 272
5. Moving Back and Forth bet
ween 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 W
aiting and Completion Output........................................................... 278
11. Changing the Moving S
peed ....................................................................................................... 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 (ST
OP) ............................................................................................. 285
18. Movement by Position Number S
pecification.............................................................................. 286
19. Movement by External Position Dat
a Input ................................................................................. 287