Shibaura CA20-M10, Operating Manual, Page: 227 / 384

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(3) How to specify acceleration/deceleration tables
Specify acceleration/deceleration tables with the five bits of the general input ports 02-3 to
02-7 of the station No. 0 (master unit). (20 tables)
Table
to be
specified
General input port numbers of the
station No. 0
Table
to be
specified
General input port numbers of the
station No. 0
02-7 02-6 02-5 02-4 02-3 02-7 02-6 02-5 02-4 02-3
2
4
2
3
2
2
2
1
2
0
2
4
2
3
2
2
2
1
2
0
01 0 0 0 0 1 11 0 1 0 1 1
02 0 0 0 1 0 12 0 1 1 0 0
03 0 0 0 1 1 13 0 1 1 0 1
04 0 0 1 0 0 14 0 1 1 1 0
05 0 0 1 0 1 15 0 1 1 1 1
06 0 0 1 1 0 16 1 0 0 0 0
07 0 0 1 1 1 17 1 0 0 0 1
08 0 1 0 0 0 18 1 0 0 1 0
09 0 1 0 0 1 19 1 0 0 1 1
10 0 1 0 1 0 20 1 0 1 0 0
1: ON 0: OFF
NOTE The default acceleration/deceleration table (05) is specified in the following cases:

The five bits are all 0's (OFF).

Twenty-one or more tables are specified.
(4) How to specify coordinate systems
Specify the general input port in M16 "palletizing input bit specification" of mode settings.
Specified bit
ON: Relative coordinate system
OFF: Absolute coordinate system
An absolute coordinate system is selected if no general input port is assigned in M16
"palletizing input bit specification" of mode settings.