Shibaura CA20-M10, Operating Manual, Page: 331 / 384

18
– 31
MVM
[Function] This command is used to execute palletizing movement according to the
MVM table of a specified group.
[Explanation]

Before using the MVM command, you set the parameters listed below
relating to the MVM operation in parameter mode.
• Coordinate table No. of operation origin points P0, P1 and P2.
• Numbers of objects to be picked up and carried
• Counter No. used for the palletizing operation
Refer to section 13.5.4 MVM Table Setting for the parameter setting.

When MVM command is executed, the ROIbot moves to the coordinate
calculated by the following equations:
Coordinates of each matrix point
P0: (X
0
, Y
0
)
P1: (X
1
, Y
1
)
P2: (X
2
, Y
2
)
P
0

P
1
pieces: n
1
P
0

P
2
pieces: n
2
Value of counter used in P
0

P
1
direction: C
1
Value of counter used in P
0

P
2
direction: C
2
MVM calculation
expression
Palletizing Move
C
1
and C
2
are incremented by one with the
LOOP command.
These are variables that are the details (value)
of the counter.
X coordinate value = X
0
+ x
1
(C
1

1) + x
2
(C
2

1)
Y coordinate value = Y
0
+ y
1
(C
1

1) + y
2
(C
2

1)
Where, x
1
and y
1
are the X and Y elements of the pitch
in the P
0

P
1
direction
x
1
= , y
1
=
x
2
and y
2
are the X and Y elements of the pitch
in the P
0

P
2
direction
x
2
= , y
2
=
X
1

X
0
n
1

1
Y
1

Y
0
n
1

1
X
2

X
0
n
2

1
Y
2

Y
0
n
2

1
P2
P0
P1
Pitch
Pitch
Matrix point