IAI XSEL User Manual

1.13 Structural IF ............................................................................................................ 243
1.14 Structural DO .......................................................................................................... 246
1.15 Multi-Branching ....................................................................................................... 248
1.16 System Information Acquisition ...............................................................................252
1.17 Zone ........................................................................................................................ 255
1.18 Communication ....................................................................................................... 259
1.19 String Operation
...................................................................................................... 265
1.20 Palletizing-Related .................................................................................................. 274
1.21 Palletizing Calculation Command
........................................................................... 288
1.22 Palletizing Movement Command
............................................................................ 291
1.23 Building of Pseudo-Ladder Task ............................................................................. 297
1.24 Extended Commands ............................................................................................. 299
Chapter 3 Key Characteristics of Actuator Control Commands and Points to Note ......................... 307
1. Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS] ............................ 307
2. PATH/PSPL Commands .................................................................................................. 309
3. CIR/ARC Commands ....................................................................................................... 309
4. CIR2/ARC2/ARCD/ARCC Commands ............................................................................ 309
Chapter 4 Palletizing Function .......................................................................................................... 310
1. How to Use ...................................................................................................................... 310
2. Palletizing Setting ............................................................................................................ 310
3. Palletizing Calculation ...................................................................................................... 316
4. Palletizing Movement
....................................................................................................... 317
5. Program Examples .......................................................................................................... 319
Chapter 5 Pseudo-Ladder Task
........................................................................................................327
1. Basic Frame ..................................................................................................................... 327
2. Ladder Statement Field
....................................................................................................328
3. Points to Note
.................................................................................................................. 328
4. Program Example ............................................................................................................ 329
Chapter 6 Application Program Examples
........................................................................................ 330
1. Operation by Jog Command [Doll-Picking Game Machine] .............................................330
2. Operation by Point Movement Command [Riveting System]
........................................... 333
3. Palletizing Operation [Palletizing System]
....................................................................... 336
Part 5 Multi-Tasking ..................................................................................................339
Chapter 1 Real-Time Multi-Tasking .................................................................................................. 339
1. SEL Language ................................................................................................................. 339
2. Multi-Tasking
....................................................................................................................340
3. Difference from a Sequencer ........................................................................................... 341
4. Release of Emergency Stop ............................................................................................ 341
5. Program Switching ........................................................................................................... 343
Chapter 2 Example of Building a System
......................................................................................... 344
1. Equipment ........................................................................................................................ 344
2. Operation
......................................................................................................................... 344

IAI XSEL Specifications

General

Type	Controller
Power Supply	24V DC
Communication	Ethernet, RS-232
Communication Interface	Ethernet
Operating Temperature	0 to 50 °C
Weight	Varies depending on model. Consult datasheet.