Shibaura CA20-M10, Operating Manual

Page: 94 / 384

4
– 10

4.1.7 Palletizing work with MVM commands
In the palletizing mode described in Chapter 7, palletizing operation can be carried out by just
setting various data and not using commands.
However, if a mode is used for the palletizing operation, there will be some restrictions to the
degree of operation freedom. To cover for these demerits, the degree of operation freedom
and complex palletizing operations can be used by creating a program using MVM commands.
(Sequential movement operation such as 1 to M, M to 1, M to M and on matrix.)
[Example]

Correspondence of pallet on which work are arranged in a zigzag pattern.

Transferring of works on pallet according to passing and failing state, etc.

Procedure for carrying out palletizing work with MVM commands
1. Setting of MVM table details Set the data such as the matrix (pallet, etc.) shape.
(Refer to section 13.5.4 MVM table setting.)
2. Setting of coordinate table details Set the data of the coordinate table used with the
MVM table.
(Refer to section 13.5.1 Setting of coordinate
tables.)
3. Creation of program in sequential mode (Refer to section 4.1 Sequential PRGM
mode.)
4. Execution of program (Refer to section 4.2 Sequential RUN mode.)
S side: Source
D side: Destination
P0
P1
P2
S
側定点
S side set point