IAI PSEL, Operation Manual

Page: 1051 / 1062

6. Program Examples
557
(2) Explanation of the operation
How this system operates is explained.
1) Move to the standby point and wait for a start input.
2) Move to the work feed point after a start input is received.
3) The Z-axis comes down and the air chuck clamps the work.
4) The Z-axis rises and moves to above the pallet.
5) The Z-axis comes down and releases the work.
6) The Z-axis rises and moves to above the work feed point.
7) When the pallet becomes full, a pallet-completion indicator signal is output. The axes
move to P18 and then wait for restart.
The above operation will be repeated. The operation position, external I/O assignments and
operation flow chart of this operation are shown below:
Operation Position Operation Flow Chart
I/O Assignments
Category I/O No. Signal name Specification
16
Z-axis cylinder
upper limit
Proximity SW
17
Z-axis cylinder
lower limit
Proximity SW
Input
18 Start
Pushbutton
switch
309 Z-axis cylinder SV 24V DC
310 Z-axis chuck SV 24V DC
Output
311
Pallet-completion
indicator
24V DC
XSEL
* Flag is used from 600.
Pallet specifications
Axis-1 direction: 20mm pitch
Axis-2 direction: 30mm pitch
Axis
1
Axis 2
P18 P17
P1
n n n n
n n n n
n n n n
Start
Clear variable
Move to position No. 18
Wait for
input of 18
Move to position No. 17
Call chuck subroutine
Move to position No. 1
Call chuck subroutine
Increment axis-1 offset by
20mm
Variable
300 = 80
Clear variable 300
Increment axis-2 offset by
30mm
Variable
301 = 120
Completion signal ON
Chuck subroutine
Cylinder down
Lower limit
Reverse chuck output
Timer
Cylinder up
Upper limit
End of subroutine
N
N
N
N
N
Y
Y
Y
(0.5s)
Y
Y