Shibaura CA20-M10, Руководство по эксплуатации, Страница: 70 / 384

3
– 10

3.2.1 Basic programming
This section explains basic ROIbot programming, using examples of a Teach Pendant display.
The following illustration shows a display of sequential mode in PRGM (program) mode.
NOTE In programming single-axis ROIbot operation, enter only the X axis (1 st axis)
coordinate. If you enter the Y axis coordinate, it is ineffective.

Operation mode
The mode selected by the Teach Pendant is displayed. [PRGM] is displayed for PRGM
mode, and [RUN] is displayed for RUN mode.
In case of TPH-2A, when PRGM mode is selected, a green indicator lights, when AUTO
mode is selected, a red indicator lights and when STEP mode is selected, a red indicator
blinks.

Program step No.
A maximum of 2,000 steps can be written in the sequential mode. The next step of the
currently displayed step can be shown by pressing the
NEXT
or
-NEXT
key. In case of
TPH-2A, note that one command may be displayed in two successive screens. When two
successive screens are used for the display of a step, an open parenthesis "(" appears on
the front screen and a close parenthesis ")" appears on the second screen. Thus, the first
and second screens for the command display can be identified.

Commands
Various commands are selected by pressing the command key, function key or numeric
keypad. The command is then written by pressing
ENT
.

Parameters for commands
When a command is being written, the cursor automatically moves to a field where a
parameter should be entered. Write the parameter and press
ENT
.
[ P R G M ] X = 0 0 0 0 . 0 0
0 0 0 1 a S Y = 0 0 0 0 . 0 0
M O V V = 0 0 Z = 0 0 0 0 . 0 0
P O S T R = 0 0 0 0 . 0 0
Program step No.
Command
Parameters for commands
Operation mode