Shibaura CA20-M10, Руководство по эксплуатации

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Chapter 6 Easy Mode
Easy mode is a mode in which movement to each point, and simple sequential operation such
as operation of the hand after completing movement can be done without creating a program.
In other words, the movement commands, calling of the hand operation subroutine, and
designation of the step to be executed next are configured as a pair of steps per program,
allowing programming and execution to be carried out without a complicated configuration.
The easy mode program can have a maximum of 100 steps per program, and eight programs
can be created.
No. of programs: Eight programs
No. of steps: 100 steps/program
The following subroutine programs used in the easy mode are created in the sequential
program.

Hand subroutine: Sequential program executed a point after to moving to it such as when
operating the hand, etc.

Start subroutine: Sequential program executed before moving to the point.

End subroutine: Sequential program executed after the easy mode operation ends.
This controller can execute multiple sequential programs with multitasking, but the only
sequential program that can be executed from the easy mode is task No. 1.