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7
8
9
10
11
12
13
Application 11-15
4. Flow chart
Processing flow
Task 2 busy?
Exclusive control flag set
Task 2 busy?
START
Exclusive control flag reset
Subtask start
Part 1 supplied?
Chuck open
Move to parts supply position P1
Chuck close
Move to testing device 1
Chuck open
Move upward 10000 pulses
Exclusive control flag reset
Testing device 1 start
Test completed?
Exclusive control flag set
Move to testing device 1
Chuck close
Part OK?
OK parts?
Move to OK parts position
Chuck open
Move upward 10000 pulses
Exclusive control flag reset
NG parts?
FLAG1=0 FLAG2=0
Move to NG parts position
FLAG1=0
FLAG1=1
FLAG1=0
FLAG1=1
N
Y
Y
N
Y
N
Y
N
Y
Y
Y
N
Y
N
N
33C15-R7-00
Task 2 (subtask) runs in the same flow.
Содержание SCARA YRCX Series
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Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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