Catalogue - BA II Arm Robot Catalog - TM Robotics - (Version JPG)

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Robotic cell, SCARA robot, Robot, Pick and place robot, Articulated robot

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Operation Mode

[Sequential mode]

Mode in which a program created, using instruction words, is executed in the order of steps.


Type of master unit		CA20-M10, CA20-M40	CA10-M00B, CA10-M01B
No. of program steps		2,000 steps (Note 1)	2,500 steps (Note 1)
Coordinate table		999 points x 4 tasks	999 points x 1 task
Speed setting		10 steps (variable)	10 steps (variable)
Acceleration/deceleration setting		20 steps (variable)	20 steps (variable)
No. of counters		99	99
No. of timers		9	9
	Maximum number. of tasks	4 tasks	4 tasks (For axis motion, only one task can be used.)
Multitask	Maximum number of controlled axes	4 axes	4 axes
	Maximum number of controlled axes per task	2 axes	4 axes

Note 1 : Total number of steps of 4 tasks. In the easy mode, the maximum number of steps is 1,000.

Example programming in sequential

mode

[Motion]

When general-purpose input port 1-3 is ON after the axes reach point B via point A from the origin, they move to point C (good product). When it is OFF, they move to point D (rejected product).

X Y

Coordinates of point A (100, 0)

Coordinates of point B (200, 200)

Coordinates of point C (200, 300)

Coordinates of point D (300, 200)

[Example of using general-purpose input signals] Signal for good product: Port 1-3 ON Signal for rejected product: Port 1-3 OFF For input signal timing: Use of port 1-8

co x

Origin

X-axis


Example program
Step	Command	Data	Comment
0001	SPD	V = 0 5
0002	MOV	a S V = 00 X=100 POST Y=0	Point ®
0003	MOV	a S V = 00 X = 200 POST Y=200	Point ®
0004	IN	PORT [1]	Waiting for input of good or rejected product judgment signal.
0005	JMPI	10 PORT [1] .....1-	When general-purpose input port 1-3 is ON, jump to tag No. 10.
0006	MOV	a S V = 00 X = 300 POST Y=200	Point ©(when rejected product judgment signal has reached)
0007	END
0008	TAG	10
0009	MOV	a S V = 00 X = 200 POST Y=300	Point ©(when good product judgment signal has reached)
0010	END

Flow chart

Start

Speed setting

Move to Point A

Move to point C

~~r~

—h

r-t-—5

(/)

r-t-

End

Note: TheCA20-M10 (40) controller uses MOVP command in lieu of MOV command.

General-purpose input port 1-3 General-purpose input port 1-8

OFF

(general-purpose input port 1-3) is ON, the timing signal (general-purpose input port 1-8) is input.

30 ms or over

228

BA II Arm Robot Catalog - TM Robotics - #230

Robotic cell, SCARA robot, Robot, Pick and place robot, Articulated robot