Shibaura CA20-M10, Operating Manual, Page: 136 / 384

7
– 4

7.2 PRGM mode in palletizing mode
The PRGM (program) screen in the palletizing mode is configured of 14 screens. The screens
are common in all modes, but the screens that do not need to be set for the 1 to M mode or M
to 1 mode will not display. The positions indicated with an X in the following table are not
displayed.
Screen No. Details M to M 1 to M M to 1
01 Start tag No.
  
02 S side matrix P0 coordinates
  
03 S side matrix P1 coordinates

×

04 S side matrix P2 coordinates

×

05 No. of S side matrixes

×

06 Movement speed toward S side
  
07 S side hand program tag No.
  
08 D side matrix P0 coordinates
  
09 D side matrix P1 coordinates
 
×
10 D side matrix P2 coordinates
 
×
11 No. of D side matrixes
 
×
12 Movement speed toward D side
  
13 S side hand program tag No.
  
14 End tag No.
  
NOTE

Inclined compensation is possible by setting each coordinate data P0 to P2. The
matrix (pallet, etc.) does not need to be parallel to each axis, but each point
coordinate of the matrix must not exceed the soft limit value.

The operation pattern can be changed on the same matrix by changing the
coordinate data P0, P1 and P2 settings.