Shibaura CA20-M10, Operating Manual, Page: 137 / 384

7
– 5
Operation example: 1 to M
The place of 2-axis combination is shown below for example.
Set the coordinates
1
in the D side
Set the coordinates
4
in the D side
P0 coordinates P0 coordinates
Set the coordinates
3
in the D side
Set the coordinates
6
in the D side
P1 coordinates P1 coordinates
Set the coordinates
4
in the D side
Set the coordinates
1
in the D side
P2 coordinates P2 coordinates
[Operation pattern] [Operation pattern]
To execute the 1 to M program. To execute the 1 to M program.
A

1

A

2

A

3 A

4

A

5

A

6

A

4

A

5

A

6

A

1

A

2

A

3

In the palletizing program, counter Nos. 91 to 94 are used as the palletizing counter.
Applicable
counter
S side
Count in P0 to P1 direction No. 91
Count in P0 to P2 direction No. 92
D side
Count in P0 to P1 direction No. 93
Count in P0 to P2 direction No. 94
NOTE
Counter Nos. 91 to 94 are counters exclusive for palletizing. Do not use these in
programs other than the palletizing program.

Refer to the relation of the counter details and movement position given in Section 4.1.7 (3)
for details on the counter and movement position.

The counter details are automatically processed (counted up, initialized) after the
destination side hand program is executed.

The S side and D side coordinate data P0 to P2 can be remotely taught or directly taught.
However, direct teaching cannot be used for axes provided with brakes. (Refer to section
3.2.2.)
Y axis
X axis
Y axis
X axis