Owner's manual

Table of Contents
Chapter 3 Explanation of Commands
................................................................................................... 95
1. Commands .................................................................................................................................... 95
1.1 Variable Ass
ignment .......................................................................................................... 95
1.2 Arithmetic Operation
.......................................................................................................... 98
1.3 Function Operation
.......................................................................................................... 101
1.4 Logical Operation
............................................................................................................. 104
1.5 Comparison Operation
..................................................................................................... 107
1.6 Timer ................................................................................................................................ 108
1.7 I/O, Flag Operation
...........................................................................................................111
1.8 Program Control
............................................................................................................... 122
1.9 Task Management............................................................................................................ 125
1.10 Position Operation
........................................................................................................... 130
1.11 Actuator Control Dec
laration............................................................................................ 145
1.12 Actuator Cont
rol Command ............................................................................................. 161
1.13 Structural IF...................................................................................................................... 184
1.14 Structural DO
................................................................................................................... 187
1.15 Multi-Branching
................................................................................................................ 189
1.16 System Information Acquisition........................................................................................ 193
1.17 Zone................................................................................................................................. 196
1.18 Communication................................................................................................................ 200
1.19 String Operation
............................................................................................................... 207
1.20 Arch-Motion-Related
........................................................................................................ 216
1.21 Palletizing-Related
........................................................................................................... 221
1.22 Palletizing Calc
ulation Command.................................................................................... 228
1.23 Palletizing Movement Command
..................................................................................... 231
1.24 Building of Pseudo-Ladder T
ask ...................................................................................... 233
1.25 Extended Command
........................................................................................................ 235
Chapter 4 Key Characteristics of Actuator Control
Commands and Points to Note ........................... 238
1. Continuous Movement Commands
............................................................................................. 238
2. PATH/PSPL Commands.............................................................................................................. 240
3. CIR/ARC Commands
.................................................................................................................. 240
4. CIR2/ARC2/ARCD/ARCC Commands
........................................................................................ 240
Chapter 5 Palletizing Function (2-axis S
pecification).......................................................................... 241
1. How to Use
.................................................................................................................................. 241
2. Palletizing Setting
........................................................................................................................ 241
3. Palletizing Calc
ulation ................................................................................................................. 246
4. Palletizing Movement
.................................................................................................................. 247
5. Program Examples
...................................................................................................................... 248