2 INFORM Explanation
FS100 2.1 I/O Instructions : WAIT
2-10
(1) WAIT IN#(12)=ON
Waits until general input signal no.12 is turned on.
(2) SET B000 5
SET B002 16
WAIT SIN#(B000)=B002 T=3.000
B002=16 (Decimal)=00010000 (Binary)
Waits until specific input signal no.5 is turned off.
However, after three seconds, even if the signal is not turned off,
the next instruction is executed.
(3) WAIT IGH#(2)<>5
5 (Decimal)=0101 (Binary)
Waits until general input signal nos.5 and 7 are turned off and gen-
eral input signal nos. 6 and 8 are turned on.
(4) Example of press machine handling
.
The robot cannot be moved to step 3 while the press is closed.
Open/close of the press machine (Open: ON, Shut: OFF) is allo-
cated to general input signal No.1.
The robot waits until general input signal No.1 turns on at step 2.
IN#(5)IN#(7) IN#(6)IN#(8)
IGH#(2)
ON
Press
Machine
Step 1
Step 3
Step 4
Step 2
Step 8
Step 5
Step 6
Step 7
Pallet
000 NOP
001 MOVJ VJ=100.0
002 MOVJ VJ=100.0
WAIT IN#(1)=ON
003 MOVJ VJ=100.0
004 MOVJ VJ=100.0
005 MOVJ VJ=100.0
006 MOVJ VJ=100.0
007 MOVJ VJ=100.0
008 MOVJ VJ=100.0
009 END
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