Shibaura CA20-M10 Manuals

Manuals and User Guides for Shibaura CA20-M10. We have 1 Shibaura CA20-M10 manual available for free PDF download: Operating Manual

Shibaura CA20-M10 Operating Manual (384 pages)

Brand: Shibaura | Category: Controller | Size: 8 MB

Table of Contents
4
Chapter 1 General Safety Instruction

15
- Important Messages
  
  15
- Safe Operation
  
  20
- Warranty
  
  23
  - Warranty Period
    23
  - Warranty Details
    23
  - Exemption of Liability
    23
  - Notes
    23
Chapter 2 Devices

25
- Features
  
  25
- System Components and Specifications
  
  27
  - System Components
    27
  - Controller Specifications
    28
    
    Master Unit Specifications
    29
    
    Slave Unit Specifications
    30
    
    Various Units and Options
    31
- Explanation of each Part
  
  32
- Procedures from Installation to Operation
  
  39
- Moving the Roibot
  
  56
Chapter 3 General Programming

61
- Explanation of Operation Modes
  
  61
  - Explanation of RUN Mode
    63
  - Explanation of PRGM Mode
    64
  - Return to Origin
    65
- General Programming
  
  66
  - Basic Programming
    70
  - Position Data Input
    72
    
    Remote Teaching
    72
    
    Direct Teaching
    72
    
    MDI (Manual Data Input)
    72
  - Memory Clear (Initialization)
    79
  - MOV System Command Words and Parameters
    82
Chapter 4 Sequential Mode

85
- Sequential PRGM Mode
  
  85
- Sequential RUN Mode
  
  100
  - AUTO Mode of Sequential Mode
    100
    
    Continuous Operation
    100
    
    Single Operation
    101
  - STEP Mode of Sequential Mode
    102
  - Changing of Speed During Operation (Override)
    103
Chapter 5 Multi-Task

105
- Multitasking
  
  105
- Merits of Multitasking
  
  105
- Multitasking Usage Methods
  
  106
  - Multitasking Specifications
    106
  - Multitasking Functions and Settings
    106
  - Starting and Stopping Tasks
    107
  - Multitasking Operation
    108
  - Applying Timing between Tasks
    109
- Details on Multitasking
  
  110
  - Task Status
    110
  - Transition of States
    110
  - Transfer of Data between Tasks
    111
  - Task Priority
    111
Chapter 6 Easy Mode

113
- PRGM Mode of Easy Mode
  
  114
  - How to Enter and Leave the Easy Mode
    114
  - Editing Easy Mode Program
    115
  - Copy Editing of Easy Mode
    127
  - Clearing of Easy Mode Programs
    128
- RUN Mode of Easy Mode
  
  129
  - AUTO Mode of Easy Mode
    129
    
    Continuous Operation
    129
    
    Single Operation
    130
  - STEP Mode of Easy Mode
    131
  - Changing of Speed During Operation (Override)
    132
Chapter 7 Palletizing Mode

133
- Basic Flow Chart of Palletizing Mode
  
  135
- PRGM Mode in Palletizing Mode
  
  136
- RUN Mode of Palletizing Mode
  
  146
  - AUTO Mode of Palletizing Mode
    146
    
    Continuous Operation
    146
    
    Single Operation
    149
  - STEP Mode of Palletizing Mode
    149
  - Changing of Speed During Operation (Override)
    151
Chapter 8 External Point Designation Mode

153
Chapter 9 Pulse Train Input Mode

159
- System
  
  159
  - System Configuration Method
    159
  - Specifications of Pulse Train Input Mode
    160
- Input/Output Signals
  
  161
- Operation Methods
  
  168
- Precautions for Operation
  
  170
- Operation Procedures
  
  170
Chapter 10 Connection with External Devices

171
- Input/Output Signal
  
  171
- Details of System Input/Output Function
  
  184
  - Return to Origin Input
    184
  - Start Input
    184
  - Stop Input
    185
  - Reset Input
    185
  - Robot Single Operation Input
    185
  - Continuous Start Input
    186
  - Escape Input
    186
  - Pause (Temporary Stop) Input
    186
  - Program No. Selection Input
    187
  - Palletizing Input
    188
  - Running Output
    188
  - Error Output
    188
  - Positioning Complete Output
    188
  - Return to Origin Complete Output
    188
  - Input Wait Output
    189
  - Pausing (Temporarily Stopped) Output
    189
  - READY Output
    189
  - Individual Task Positioning Complete Output
    189
  - Individual Task Return to Origin Complete Output
    189
  - Battery Alarm Output
    189
- RS-232C Communication Specifications
  
  189
Chapter 11 CC-Link

191
- CC-Link Function
  
  191
  - Overview
    191
  - CC-Link Specifications
    192
  - How to Attach the CC-Link Module
    192
  - Explanation of CC-Link Component and External Dimensions
    193
  - Connection of Exclusive CC-Link Cable
    194
  - CC-Link Settings
    194
- Connection with External Devices
  
  195
  - List of Master Unit I/O Signals
    195
  - System I/O
    196
  - Name of General-Purpose I/O Port and Teach Pendant Display
    197
  - Jog Input/Output
    198
- Data Communication
  
  200
  - Overview of Data Communication
    200
  - Command Mode
    201
    
    Transmitting and Receiving Data
    201
    
    Command Table
    203
    
    Descriptions on each Command
    204
  - Monitor Mode
    211
    
    Data Receiving Method
    211
    
    List of Monitor Types
    212
    
    Explanation of Monitors
    212
- Speed Control Mode through CC-Link
  
  217
  - Overview
    217
  - Speed Control Specifications
    217
  - Items Prohibited
    217
  - Settings of Speed Control Mode
    218
  - List of I/O Signals
    218
  - List of I/O Data
    219
  - Details of I/O Signals
    220
- Selection Table Extension in External Point Designation Mode
  
  224
  - Overview
    224
  - How to Set Selection Table Extension
    224
  - Assignment of Input Signals and Tables
    225
- Maximum Torque Limit Function
  
  228
- CC-Link Status
  
  231
Chapter 12 Devicenet

235
- Devicenet Function
  
  235
  - Overview
    235
  - Devicenet Specifications
    235
  - How to Attach the Devicenet Module
    236
  - Explanation of Devicenet Component and External Dimensions
    236
  - Connection of Exclusive Devicenet Cable
    238
  - Devicenet Settings
    238
- Connection with External Devices
  
  239
  - List of Master Unit I/O Signals
    239
  - System I/O
    240
  - Name of General-Purpose I/O Port and Teach Pendant Display
    241
  - Jog Input/Output
    242
Chapter 13 Parameter Setting

245
- How to Enter and Leave the para Mode
  
  245
- Method of Mode Setting
  
  246
- Parameter 1 Setting
  
  255
- Parameter 2 Setting
  
  260
  - Setting of Axis Display
    262
  - Setting of In-Position Data Value
    262
  - Setting of Overflow Data Value
    262
  - Setting of Feed Forward Data Value
    263
  - Setting of Direction of Motor Revolution
    263
  - Setting of Maximum Speed
    263
  - Setting of Return to Origin Speed
    264
  - Setting of Return to Origin Method
    266
  - Setting of Origin Sensor Logic
    267
  - Setting of High Speed Return to Origin Position
    267
  - Setting of Lead
    267
  - Setting of Encoder No. of Divisions
    268
  - Setting of Encoder Pulse Multiplier
    268
  - Setting of Encoder Type
    268
  - Setting of Task and Axis Combination
    269
  - Setting of Task Order of Priority
    269
  - Setting of Task Point Table
    270
  - Setting of No. of Task Steps
    270
  - BA I/O Compatibility Mode
    270
- How to Set the Tables
  
  271
  - Setting of Coordinate (Point) Table
    272
  - Setting of Speed Table
    272
  - Setting of Acceleration/Deceleration Table
    273
  - Setting of MVM Table
    274
Chapter 14 Monitoring

275
- Program Step No. Monitoring
  
  276
- Input/Output Monitoring
  
  277
- Counter and Timer Monitoring
  
  279
- Coordinate Monitoring
  
  280
- Origin Sensor/Encoder Z-Phase Pulse Monitoring
  
  282
Chapter 15 Search Function

283
- Search of Sequential Step no
  
  283
- Search of Tag no
  
  283
- Search of Easy Program no
  
  284
- Search of Palletizing Program no
  
  285
- Search of Palletizing Program Screen no
  
  285
Chapter 16 Manual Operation of General-Purpose Outputs

287
- Manual Output Using Function Keys
  
  287
- Manual Output of Random Bit Designation from PRGM Mode
  
  288
Chapter 17 Other Handy Operations

289
- Teach Pendant ON/OFF
  
  289
- Reset Operation
  
  290
- Counter Direct Set
  
  291
- Version Display
  
  292
- JOG Operation (Manual Operation of Axis)
  
  293
- Clearing (Initializing) Coordinate Table
  
  295
- BA I/O Compatibility Mode
  
  296
  - Selection Method of BA I/O Compatibility Mode
    296
  - Operation Specifications for Return to Origin Complete Output
    297
- Movement Operation on Coordinate Table Setting Screen
  
  299
Chapter 18 Commands

301
- ACC (Setting Acceleration/Deceleration)
  301
- CALC (Counter Conditional Call)
  302
- CNT+ (Count Up)
  302
- CNT (Count Down)
  302
- END (End)
  303
- HOME (Return to Origin)
  316
- IN (Waiting for Input)
  317
- JMP (Unconditional Jump)
  319
- JMPC (Counter Conditional Jump)
  320
- JMPI (Input Conditional Jump)
  321
- JMPT (Timer Conditional Jump)
  323
- MINI (Initial Counter Value for MVM)
  325
- Movp
  326
  - By Coordinate Table)
    326
- MVE (Escape Move)
  329
- MVM (Palletizing Movement)
  331
- OFS (Offset)
  334
- OUT (General-Purpose Port Output)
  335
- OUTC (General-Purpose Port Output of Counter Value)
  337
- OUTP (General-Purpose Port Pulse Output)
  338
- PSEL (Program Selection)
  339
- RET (Return)
  340
- SPD (Setting Speed)
  341
- STOP (Stop)
  342
- SVOF (Servo-Off)
  343
- SVON (Servo-On)
  344
- TAG (Tag)
  345
- TCAN (Task Forced End)
  346
- TIM (Waiting)
  347
- TIMP (Timer Preset)
  348
- TSTO (Task Temporary Stop)
  350
- TSTR (Task Start)
  351
Chapter 19 Error Messages

353
- Error Display
  
  353
- Error Table
  
  354
- Flashing of Status Display LED
  
  360
Chapter 20 BA-C Series

361
- Specification
  
  361
- Explanation of each Part
  
  362
- Connections
  
  366
- Selecting the Power Supply
  
  367
- Installing
  
  368
- Supply Power and Grounding
  
  369
- Improvement of Noise Resistance
  
  370
- Connecting Controllers
  
  370
- Resolver ABS Backup
  
  371
  - Specifications
    373
  - External Dimensions
    374
  - Installation
    374
  - Connection Example
    375
Chapter 21 Maintenance and Inspection

377
- Procedures before and after Inspection and Maintenance
  
  377
- Inspection before Operation
  
  378
- Periodic Inspection
  
  378
  - Inspection of Timing Belt
    379
- Lubrication
  
  380
- Cleaning
  
  381

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Shibaura CA20-M10 Manuals

Shibaura CA20-M10 Operating Manual (384 pages)

Table of Contents

Chapter 1 General Safety Instruction

Important Messages

Safe Operation

Warranty

Chapter 2 Devices

Features

System Components and Specifications

Explanation of each Part

Procedures from Installation to Operation

Moving the Roibot

Chapter 3 General Programming

Explanation of Operation Modes

General Programming

Chapter 4 Sequential Mode

Sequential PRGM Mode

Sequential RUN Mode

Chapter 5 Multi-Task

Multitasking

Merits of Multitasking

Multitasking Usage Methods

Details on Multitasking

Chapter 6 Easy Mode

PRGM Mode of Easy Mode

RUN Mode of Easy Mode

Chapter 7 Palletizing Mode

Basic Flow Chart of Palletizing Mode

PRGM Mode in Palletizing Mode

RUN Mode of Palletizing Mode

Chapter 8 External Point Designation Mode

Explanation of External Point Designation Mode

Operation Method of External Point Designation Mode

Changing of Speed During Operation (Override)

Chapter 9 Pulse Train Input Mode

System

Input/Output Signals

Operation Methods

Precautions for Operation

Operation Procedures

Chapter 10 Connection with External Devices

Input/Output Signal

Details of System Input/Output Function

RS-232C Communication Specifications

Chapter 11 CC-Link

CC-Link Function

Connection with External Devices

Data Communication

Speed Control Mode through CC-Link

Selection Table Extension in External Point Designation Mode

Maximum Torque Limit Function

CC-Link Status

Chapter 12 Devicenet

Devicenet Function

Connection with External Devices

Chapter 13 Parameter Setting

How to Enter and Leave the para Mode

Method of Mode Setting

Parameter 1 Setting

Parameter 2 Setting

How to Set the Tables

Chapter 14 Monitoring

Program Step No. Monitoring

Input/Output Monitoring

Counter and Timer Monitoring

Coordinate Monitoring

Origin Sensor/Encoder Z-Phase Pulse Monitoring

Chapter 15 Search Function

Search of Sequential Step no

Search of Tag no

Search of Easy Program no

Search of Palletizing Program no

Search of Palletizing Program Screen no

Chapter 16 Manual Operation of General-Purpose Outputs

Manual Output Using Function Keys

Manual Output of Random Bit Designation from PRGM Mode

Chapter 17 Other Handy Operations

Teach Pendant ON/OFF

Reset Operation