Shibaura CA20-M10, Operating Manual, Page: 6 / 384

IV
5.4 Details on multitasking ································································· 5-6
5.4.1 Task status ············································································· 5-6
5.4.2 Transition of states ··································································· 5-6
5.4.3 Transfer of data between tasks ··················································· 5-7
5.4.4 Task priority ············································································ 5-7
Chapter 6 Easy Mode
6.1 PRGM mode of easy mode ···························································· 6-2
6.1.1 How to enter and leave the easy mode ········································· 6-2
6.1.2 Editing easy mode program························································ 6-3
6.1.3 Copy editing of easy mode ························································· 6-15
6.1.4 Clearing of easy mode programs ················································· 6-16
6.2 RUN mode of easy mode ······························································ 6-17
6.2.1 AUTO mode of easy mode ························································· 6-17
(1) Continuous operation ································································ 6-17
(2) Single operation ······································································· 6-18
6.2.2 STEP mode of easy mode ························································· 6-19
6.2.3 Changing of speed during operation (override) ······························· 6-20
Chapter 7 Palletizing mode
7.1 Basic flow chart of palletizing mode··············································· 7-3
7.2 PRGM mode in palletizing mode ···················································· 7-4
7.2.1 How to enter and leave the PRGM mode ······································ 7-7
7.2.2 Editing palletizing mode program ················································· 7-8
7.2.3 Copy editing of palletizing mode ·················································· 7-11
7.2.4 Clearing of palletizing mode programs ·········································· 7-12
7.2.5 How to restart operation after turning power OFF
in palletizing mode ··································································· 7-13
7.3 RUN mode of palletizing mode ······················································ 7-14
7.3.1 AUTO mode of palletizing mode ·················································· 7-14
(1) Continuous operation ································································ 7-14
(2) Single operation ······································································· 7-17
7.3.2 STEP mode of palletizing mode ·················································· 7-17
7.3.3 Changing of speed during operation (override) ······························· 7-19
Chapter 8 External Point Designation Mode
8.1 Explanation of external point designation mode ······························ 8-1
8.2 Operation method of external point designation mode ····················· 8-5
8.2.1 Execution with input/output ························································· 8-5
8.2.2 Operation with Teach Pendant ···················································· 8-6