Shibaura CA20-M10, Руководство по эксплуатации

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5
– 2

5.3 Multitasking usage methods
Each task program is the same as the conventional sequential program. The multitasking
settings and the programming methods will be described below.

5.3.1 Multitasking specifications
Mode Only sequential mode
Max. No. of tasks 4
Max. No. of axes 4 Note that only two axes can be used per task
No. of program steps
2,000 (total of all tasks)
Note that the easy program area is used for step 1001 and
following.
Max. No. of coordinate tables
999 × 4 (total of all tasks)
Note that when only the master unit is used, 999 tables can
be set per task.

5.3.2 Multitasking functions and settings
(1) Changing the task to be displayed and edited
Only one task can be displayed on the Teach Pendant's sequential program display.
To change the task targeted for display or editing, carry out the following operation while
the RUN mode or PRGM mode sequential program step is displayed.
C
H A N G E T A S K
[
0 1 ] - > [ 0 2 ]
First press
ALT
.
Using the numeric keypad enter the task No. (01 to 04) in
this state.
The displayed task will change when
ENT
is pressed.
NOTE
It is impossible to change to a task in which the step number is 0 (the error tone
PPPP is generated if changed).
(2) Setting the task and axis combination
The CA-10 controller can use up to four tasks, and up to two axes can be set per task.
To use up to four tasks, (for example, to use only one axis), assign the axis to task No. 1,
and set the No. 2 to 4 tasks as tasks with no axis designation. Then, execute a command
other than the axis related command (movement command, etc.).
Refer to section 13.4.15 Setting of task and axis combination for the setting methods.
(3) Setting the No. of task steps
As the total for the four tasks, up to 2,000 steps can be set for the program.
If the No. of steps is set to 1,001 or more, the easy program area will be cleared in use.
Thus, the easy program cannot be used.
Refer to section 13.4.18 Setting the No. of task steps for the setting methods.