IAI PSEL, Operation Manual

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Part 2 Programs
Chapter 9 Example of Building a System
How to build hardware and software is explained in details by using a screw-tightening robot as an
example.
1. Equipment
Screw-tightening machine (for Z-axis)
Actuators (for axes 1 and 2) IAI’s actuator with 300-mm stroke x 2
Controller IAI’s PSEL controller
2. Operation
(1) Tighten six screws at 30-mm pitches on axes 1 and 2.
[1] The actuators move to a screw-tightening position.
[2] The Z-axis air cylinder of the screw-tightening
machine comes down.
[3] The screw-tightening machine starts operating.
[4] When the screw tightening is complete, the Z-axis air
cylinder rises.
[5] The actuators move to the next position.
(2) The parts feeder operates in parallel with the above
operation.
[1] The parts feeder starts when screws are short.
[2] The parts feeder stops when the screws are fully
loaded.
Coordinates
Axis 2
Axis 1
30
30
30
30 30 30
4 5 6
1 2 3