IAI PSEL, Operation Manual

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3. Program
132
3.5.17 Operation by Coordinate Value Input via External Signals and Output of
Completion Signal to External Device
[1] Description
Receive target position data as absolute values from a host device to execute movements.
[2] Example of Use
Use an INB command to load position data as a BCD code from an input port.
Each BCD value should consist of four digits, with the last digit indicating a decimal place.
The moving axis is axis 1.
Example: If a BCD of “1234” is received, the axis will move to the position at 123.4mm.
[3] Note
With TT robots, 16 general-purpose inputs from 016 to 0.31 can be input. However, if
coordinate values from 400mm [maximum TT stroke] to 0.0mm are inputs in 0.1mm
increments and a start signal is used to start the movement, as in the example, all of the 16
general-purpose inputs are used. Take note that in this case you can no longer use
general-purpose inputs for other purposes.
ࣉࣟࢢ࣒ࣛ౛ Program (Example)
Input assignment Output
Port Description 303 Movement completion
1 Start input
15 0.1mm
16 0.2mm
17 0.4mm
18 0.8mm
19 1mm
20 2mm
21 4mm
22 8mm
23 10mm
24 20mm
25 40mm
26 80mm
27 100mm
28 200mm
29 400mm
30 800mm
Flowchart
Start
Read BCD
Initial setting
Movement
completion OFF
Movement
completion ON
Start input
Move to specified
position