Shibaura CA20-M10, Руководство по эксплуатации

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3
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3.1.1 Explanation of RUN mode
The RUN mode is a mode that operates the robot. The mode can be divided into the AUTO
mode and STEP mode. Both the AUTO and STEP modes can be operated in the sequential,
easy and palletizing modes.
(1) AUTO mode
By pressing the start key, the program displayed on the Teach Pendant will be executed in
order of the step numbers.
Normally continuous operation takes place, but if the single mode setting is validated,
when the system input is started or when the Teach Pendant start key is pressed, the I/O
input single signal state (ON: single operation, OFF: continuous operation) will be
determined. Operation stops and the single operation can be started, after a specific
command (axis movement related or output related command) is executed in the
sequential mode; directly after movement in the easy mode; and after movement to the S
(source side), D (destination side) is completed in the palletizing mode.
(2) STEP mode
When the start key is pressed, one step of the program displayed on the Teach Pendant
will be executed, and the operation will stop. To execute the following program, press the
start key again.
When multiple tasks are operated using the multitasking function, one step of the task
displayed on the Teach Pendant will be executed and then will stop. The other tasks will
stop when the step being executed is stopped at the time the displayed tasks have
stopped.