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13 Applied Instructions (Handy Instruction)
13.1 IST / Initial State
316
FXCPU Structured Programming Manual
[Basic & Applied Instruction]
IST command introduction examples (examples of work transfer mechanism)
1. Operation mode
2. Transfer mechanism
The home position is the upper left corner, and the work is sequentially transferred from left to right in the
sequence of descend, clamp, ascend, right move, descend, unclamp, ascend, and left move.
Solenoid valve of double solenoid (two inputs: drive/non-drive) is used for descend/ascend, left move/right
move, and solenoid of single solenoid (active only while energized) is used for clamp.
Operation mode Operation content
Manual
Individual
operation:
Mode for turning ON/OFF each load by individual pushbutton.
Return to home
position:
Mode for returning machine to home position automatically when return home pushbutton is pressed.
Automatic
Stepping: To advance process by process every time start button is pressed.
One-cycle
operation:
When start button is pressed at home position, the machine is operated by one cycle automatically and
stops at home position. If stop button is pressed on the way, the process stops immediately, and start button
is pressed, the operation is resumed from the stopped position, and stops automatically at home position.
Continuous
operation:
When start button is pressed at home position, continuous repeating operation is started. When stop button
is pressed, the machine operates to home position, and then stops.
For individual operation of robot hand as shown on right
Pushbutton for external circuit for turning
ON/OFF power of load
Mechanism for transferring the work from
point A to point B by robot hand
Left move
Right move
Ascend
Descend
Clamp
Unclamp
Work
Point A
Point B
Y000
Y001
X001
Y001
X004
X022
X023
X025
X005 X006 X007
X012
X026
X011X010
X024
X020
X021
Stepping
One-cycle
operation
Continuous
operation
Return
home
Ascend Left move Unclamp
Power supply
Emergency stop
Descend
Right move
Clamp
X027
Stop
Start
Return to
home position
Individual
operation
Y004
Y002
X002
Y003
X003
Home
position
Left limit X004
Start
X026
Upper limit X002
Clamp
Lower limit
X001
1) Descend
Y000
3) Ascend
Y002
2) Clamp
Y001 ON
Upper limit
X002
Unclamp
Lower limit
X001
5) Descend
Y000
7) Ascend
Y002
6) Unclamp
Y001 OFF
Right limit
X003
4) Right move Y003
8) Left
move
Y004
Home position condition?
Upper limit (X002=ON), left limit
(X004=ON), unclamp (Y001=OFF).