Shibaura CA20-M10, Руководство по эксплуатации

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III
Chapter 3 General Programming
3.1 Explanation of operation modes ···················································· 3-1
3.1.1 Explanation of RUN mode ·························································· 3-3
3.1.2 Explanation of PRGM mode ······················································· 3-4
3.1.3 Return to Origin ······································································· 3-5
3.2 General programming ·································································· 3-6
3.2.1 Basic programming ·································································· 3-10
3.2.2 Position data input ···································································· 3-12
(1) Remote teaching ······································································ 3-13
(2) Direct teaching ········································································ 3-15
(3) MDI (Manual Data Input) ···························································· 3-17
3.2.3 Memory Clear (Initialization) ······················································· 3-19
3.2.4 MOV system command words and parameters ······························ 3-22
Chapter 4 Sequential Mode
4.1 Sequential PRGM mode ································································ 4-1
4.1.1 How to enter and leave PRGM (program) mode ····························· 4-1
4.1.2 Editing of steps in sequential program ·········································· 4-2
4.1.3 Copy editing of sequential programs ············································ 4-4
4.1.4 Clearing of sequential programs ·················································· 4-5
4.1.5 HELP function in entering a command ·········································· 4-7
4.1.6 Method to restart operation of sequential mode
after turning power OFF ···························································· 4-8
4.1.7 Palletizing work with MVM commands ·········································· 4-10
4.2 Sequential RUN mode ·································································· 4-16
4.2.1 AUTO mode of sequential mode ················································· 4-16
(1) Continuous operation ································································ 4-16
(2) Single operation ······································································· 4-17
4.2.2 STEP mode of sequential mode ·················································· 4-18
4.2.3 Changing of speed during operation (override) ······························· 4-29
Chapter 5 Multi-task
5.1 Multitasking ················································································ 5-1
5.2 Merits of multitasking ··································································· 5-1
5.3 Multitasking usage methods ························································· 5-2
5.3.1 Multitasking specifications ·························································· 5-2
5.3.2 Multitasking functions and settings ··············································· 5-2
5.3.3 Starting and stopping tasks ························································ 5-3
5.3.4 Multitasking operation ······························································· 5-4
5.3.5 Applying timing between tasks ···················································· 5-5