Shibaura CA20-M10, Operating Manual

Page: 126 / 384

6
– 14
An example of a program in the easy mode is
shown below.
[Example]
Pick up the workpiece at point A, check for passing
or failing at point B. If general-purpose input port
01-1 turns "ON" at point B, place work at point D
(failing part), and if "OFF", place work at point C
(passing part). After replacing work at point B and
C, return to point A and pick up work. The speed is
10, and the No. of repetitions is infinite.
----------------------------------------------------------------------------
----------------------------------------------------------------------------
----------------------------------------------------------------------------
Y
(Inspec-
tion)
C (Passing)
200
100
100 200 300 X
0
D (Failing)
A
Setting of program at point A Input items

Coordinates ------------------- Point A coordinates (X=100, Y=100)

Speed

Hand tag No. ----------------- Input reservation tag No. 900.

Coordinates ------------------- Point B coordinates (X=100, Y=200)

Speed
Press
F 1
at step 002, and press
ALT
to select the input
conditions branching.

Input conditions branching setting
----------------------------------- If general-purpose input port 01-1 is
"ON" (failing), jump to 004.

Coordinates ------------------- Point C coordinates (X=200, Y=200)

Speed

Hand tag No. ----------------- Input reservation tag No. 901.

End setting "

"

Coordinates ------------------- Point D coordinates (X=300, Y=200)

Speed

Hand tag No. ----------------- Input reservation tag No. 901.
Program setting at point B Input items
Program setting at point C Input items
Program setting at point D Input items
Press
F 1
at step 004, and select unconditional branching
conditions.

Unconditional branching condition setting
----------------------------------- Jump to step 001.
B
[ E A S Y ] 0 1 X = 0 1 0 0 . 0 0
0 0 2 V = 1 0 Y = 0 2 0 0 . 0 0
T A G : 0 0 0
[ E A S Y ] 0 1 X = 0 1 0 0 . 0 0
0 0 1 V = 1 0 Y = 0 1 0 0 . 0 0
T A G : 9 0 0
[ E A S Y ] 0 1
0 0 2 0 0 4
J M P I P O R T 0 - 0 1
･ ･ ･ ･ ･ ･ ･ 1
[ E A S Y ] 0 1 X = 0 2 0 0 . 0 0
0 0 3 V = 1 0 Y = 0 2 0 0 . 0 0
T A G : 9 0 1
*
[ E A S Y ] 0 1 X = 0 3 0 0 . 0 0
0 0 4 V = 1 0 Y = 0 2 0 0 . 0 0
T A G : 9 0 1
[ E A S Y ] 0 1
0 0 4
2
J M P 0 0 1