User guide

Page 196
Chapter 4. Programming
(3) Super SEL Controller Application Program
Step A/O N OP-Code Operand 1 Operand 2 Post Comments
1 HOME 11 X and Y axis homing
2 VEL 100 Velocity 100mm/s setting
3 ACC 0.2 Acceleration 0.2G
4TAG1
5 LET 300 0 Variable clear
6 LET 301 0 Variable clear
7 OFST 11 0 Offset value clear
8 MOVL 18 Move to position no. 18
9 WTON 17 Wait for start input
10 BTOF 312 Output 312 OFF
11 TAG 2
12 OFST 11 0 Offset value clear
13 MOVL 17 Move to position no. 17
14 EXSR 1 Chuck subroutine call (Chuck)
15 OFST 1 *300 X-Axis, Variable 300 offset
16 OFST 10 *301 Y-Axis, Variable 301 offset
17 MOVL 1 Move to position no. 1 + offset value
18 EXSR 1 Chuck subroutine call (unchuck)
19 ADD 300 20 Add 20 to variable 300
20 CPEQ 300 80 600 When variable 300=80, flag 600 ON
21 N600 GOTO 2 If flag 600 is OFF, jump to tag 2
22 LET 300 0 Variable 300 clear
23 ADD 301 30 Add 30 to variable 301
24 CPEQ 301 120 601 When variable 301=120, flag 601 ON
25 N601 GOTO 2 If flag 601 is OFF, jump to tag 2
26 BTON 312 Output 312 ON
27 G O TO 1 Jum pt to tag 1
28 BGSR 1 Chuck subroutine start
29 BTON 310 Z-Axis cylinder down
30 WTON 16 Lower limit input waiting
31 BTNT 311 Air chuck output revert
32 TIMW 0.5 Timer 0.5 seconds
33 BTOF 310 Z-Axis cylinder up
34 WTON 15 Upper limit input waiting
35 EDSR Chuck subroutine end
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