Shibaura CA20-M10, Руководство по эксплуатации, Страница: 61 / 384

3
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Chapter 3 General Programming
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3.1 Explanation of operation modes
The ROIbot is provided with the following types of operation modes.
Sequential mode RUN mode AUTO mode Continuous operation
Palletizing mode Single operation
STEP mode
PRGM mode PARA mode
Easy mode RUN mode AUTO mode Continuous operation
Single operation
STEP mode
PRGM mode PARA mode
External point RUN mode
designation mode PRGM mode PARA mode
Pulse train input mode RUN mode
(1-clock, 2-clock) PRGM mode PARA mode
With mode setting
(PARA mode) With
RUN
PRGM
key With function keys
(1) Sequential mode
The sequential mode is a mode used to execute or program in order of steps. With the
sequential mode, the operation program is structured from the beginning, so operations
more complex than the easy mode or palletizing mode are possible.
By using multitasking, up to four sequential programs can be executed simultaneously.
Refer to Chapter 4 for details on the sequential mode, and Chapter 5 for details on
multitasking.
(2) Easy mode
In the easy mode, after moving with a movement command, the hand operation
subroutine is called and the next step to be executed is designated. With pairs of steps,
programming and execution can be carried out easily without creating a complex
structure.
(3) Palletizing mode
The palletizing is a mode exclusive for moving and loading. In this mode, operation is
carried out using a mode program and by inputting matrix information that indicates the
movement point and loading state, etc.
The following types of modes are prepared in the palletizing mode.

1 to M mode
Movement from set position (source side: S) to matrix-type point configured with X and
Y axes (destination side: D)