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Table of Contents

1.2

Arithmetic Operation...................................................................................................... 108

1.3 Function Operation.........................................................................................................111

1.4 Logical Operation .......................................................................................................... 114

1.5 Comparison Operation .................................................................................................. 117

1.6 Timer.............................................................................................................................. 118

1.7 I/O, Flag Operation........................................................................................................ 121

1.8 Program Control ............................................................................................................ 133

1.9 Task Management .........................................................................................................136

1.10 Position Operation......................................................................................................... 141

1.11 Actuator Control Declaration ......................................................................................... 156

1.12 Actuator Control Command........................................................................................... 172

1.13 Structural IF ...................................................................................................................195

1.14 Structural DO................................................................................................................. 198

1.15 Multi-Branching.............................................................................................................. 200

1.16 System Information Acquisition ..................................................................................... 204

1.17 Zone .............................................................................................................................. 207

1.18 Communication.............................................................................................................. 211

1.19 String Operation............................................................................................................. 218

1.20 Arch-Motion-Related .....................................................................................................227

1.21 Palletizing-Related ........................................................................................................232

1.22 Palletizing Calculation Command.................................................................................. 239

1.23 Palletizing Movement Command................................................................................... 242

1.24 Building of Pseudo-Ladder Task.................................................................................... 244

1.25 Extended Command...................................................................................................... 246

Chapter 4 Key Characteristics of Actuator Control Commands and Points to Note ..............249

1. Continuous Movement Commands [PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC] .. 249

2. PATH/PSPL Commands ..........................................................................................................251

3. CIR/ARC Commands............................................................................................................... 251

4. CIR2/ARC2/ARCD/ARCC Commands.................................................................................... 251

Chapter 5 Palletizing Function (2-axis Specification).............................................................252

1. How to Use .............................................................................................................................. 252

2. Palletizing Setting .................................................................................................................... 252

3. Palletizing Calculation.............................................................................................................. 257

4. Palletizing Movement............................................................................................................... 258

5. Program Examples .................................................................................................................. 259

Chapter 6 Pseudo-Ladder Task .............................................................................................261

1. Basic Frame............................................................................................................................. 261

2. Ladder Statement Field............................................................................................................ 262

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