User guide

Page 103
(3) Sub Program
Screw Feeding • Program No. 2
Application Program
(2) Main Program
Screwdriving • Program No. 1
Application Program
Position Program
Chapter 3. Multi-tasking
No. X Y
13030
26030
39030
43060
56060
69060
Line
Expansion Input Commands Output
Comment
AND/OR I/O·Flag Command Operand 1 Operand 2 Output port·Flag
1 EXPG 2 Program 2 start
2HOME11 Homing
3 VEL 100 Velocity 100mm/sec
4 ACC 0.3 Acceleration 0.3G
5 TAG 1 Restart Jump target
6 WTON 6 Screwdriving start Push Button
7 LET 1 1 Screw counter set
8 TAG 2 1 screw complete Jump target
9MOVL*1 Move
10 BTON 303 Z axis air cylinder down
11 BTON 304 Screwdriving start
12 WTON 16 Screwdriving complete
13 BTOF 303 304 Air cylinder up, screwdriving stop
14 WTON 15 Z axis air cylinder upper edge check
15 ADD 1 1 Screw counter +1
16 CPEQ 1 7 900 6 screws complete Compare
17 N900 GOTO 2 1 screw complete To the next screwdriving
18 N007 GOTO 1 Screwdriving To restart
19 ABPG 2 Program 2 stop
20 BTOF 305 Parts feeder stop
21 EXIT Program 1 end
Line
Expansion Input Commands Output
Comment
AND/OR I/O·Flag Command Operand 1 Operand 2 Output port·Flag
1 TAG 1 Repeated jump target
2 WTOF 17 Parts feeder depleted
3 BTON 305 Parts feeder start
4 WTON 17 Parts feeder full
5 BTOF 305 Parts feeder stop
6 TIMW 5 Restart Timer 5 seconds
7 GOTO 1 Repeat