3.
Points to Note .......................................................................................................................... 262
4. Program Example.................................................................................................................... 263
Chapter 7 Application Program Examples.............................................................................264
1. Operation by Jog Command.................................................................................................... 264
2. Operation by Point Movement Command ...............................................................................267
Chapter 8 Real-Time Multi-Tasking........................................................................................270
1. SEL Language......................................................................................................................... 270
2. Multi-Tasking............................................................................................................................ 271
3. Difference from a Sequencer................................................................................................... 272
4. Release of Emergency Stop.................................................................................................... 273
5. Program Switching................................................................................................................... 274
Chapter 9 Example of Building a System ..............................................................................275
1. Equipment................................................................................................................................ 275
2. Operation................................................................................................................................. 275
3. Overview of the Screw-Tightening System.............................................................................. 276
4. Hardware ................................................................................................................................. 277
5. Software................................................................................................................................... 278
Chapter 10 Method of Building a System ................................................................................280
1. Position Table .......................................................................................................................... 280
2. Programming Format............................................................................................................... 281
3. Positioning to Five Positions.................................................................................................... 282
4. How to Use TAG and GOTO ...................................................................................................283
5. Moving Back and Forth between Two Points ..........................................................................284
6. Path Operation......................................................................................................................... 285
7. Output Control during Path Movement.................................................................................... 286
8. Circle/Arc Operation ................................................................................................................ 287
9. Home Return Completion Output ............................................................................................ 288
10. Axis Movement by Input Waiting and Completion Output....................................................... 289
11. Changing the Moving Speed ................................................................................................... 290
12. Changing the Speed during Operation .................................................................................... 291
13. Local/Global Variables and Flags ............................................................................................ 292
14. How to Use Subroutines.......................................................................................................... 293
15. Pausing the Operation............................................................................................................. 294
16. Canceling the Operation 1 (CANC) ......................................................................................... 295
17. Canceling the Operation 2 (STOP).......................................................................................... 296
18. Movement by Position Number Specification.......................................................................... 297
19. Movement by External Position Data Input ............................................................................. 298
20. Conditional Jump.....................................................................................................................299
21. Waiting Multiple Inputs............................................................................................................. 300
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