Shibaura CA20-M10, Руководство по эксплуатации

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7
– 3

7.1 Basic flow chart of palletizing mode

The execution order of this palletizing mode is as follows. After the start signal is input, the
start program tag No. is referred to. If the tag No. is "000", the start program is passed, and
if it is other than "000", the program jumps to the step of the tag No. written in the sequential
program. Then that subroutine is executed.
After ending the palletizing operation, the end program tag No. is referred to, and the
subroutine is executed and stopping in the same manner as the start program.
Start
End
When start signal is input,
program selection input is
referred to, and set
program is jumped to.
Movement to source side
Movement to designation side
Start program execution
Source side hand program
execution
Designation side hand program
execution
End
NO
YES
End program execution
[Start program]
The tag No. of the sequential program to be
executed before palletizing operation is
indicated.
Tag No. 000 ················ Program is passed.
Tag No. other than "0" ··· The designated tag
No. program is
executed.
[Hand program]

The hand program operates the chuck, etc.,
that is installed.

Programs are made for both the source side
(S side) and destination side (D side).
Tag No. 000 ················ Program is passed.
Tag No. other than "0" ··· The designated tag
No. program is
executed.
[End program]
The tag No. of the sequential program to be
executed
after palletizing operation is
indicated.
Tag No. 000 ················ Program is passed.
Tag No. other than "0" ··· The designated tag
No. program is
executed.
NOTE

The above three types of programs are
written as subroutines in the appropriate
steps of the sequential program.

The tag No. must always be set at the first
step of this subroutine, and "RET" written
at the end.

This subroutine tag No. is written in the
palletizing program.