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CA20-M40 CA20-S10
Shibaura CA20-M40 CA20-S10 User Manual
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MODEL:
CA20-M10/M40
CA20-S10/S40
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2
Table of Contents
Default Chapter
4
Table of Contents
4
Chapter 1 General Safety Instruction
15
Important Messages
15
Safe Operation
20
Auxiliary Safety Precautions before Roibot Installation
20
Precautions for Installing the Roibot
21
Precautions for Operation of the Roibot
21
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
External Dimensions and Explanation of each Part
32
Function of each Part
33
Explanation of Expansion Input/Output Unit
35
Explanation of Teach Pendant
36
Procedures from Installation to Operation
39
Installing the Controller
40
Supply Power and Grounding
41
Improvement of Noise Resistance
43
Connecting the Axis and Controller
44
Connecting the Emergency Stop Circuit
47
Effect of Leakage Current
47
Setting the Robot Type
48
Setting the Software Limit and Return to Origin
50
Servo Gain Adjustment
52
Absolute Encoder Backup
53
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
How to Enter and Leave PRGM (Program) Mode
85
Editing of Steps in Sequential Program
86
Copy Editing of Sequential Programs
88
Clearing of Sequential Programs
89
HELP Function in Entering a Command
91
Method to Restart Operation of Sequential Mode
92
Palletizing Work with MVM Commands
94
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
How to Enter and Leave the PRGM Mode
139
Editing Palletizing Mode Program
140
Copy Editing of Palletizing Mode
143
Clearing of Palletizing Mode Programs
144
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
Explanation of External Point Designation Mode
153
Operation Method of External Point Designation Mode
157
Execution with Input/Output
157
Operation with Teach Pendant
158
Changing of Speed During Operation (Override)
158
Chapter 9 Pulse Train Input Mode
159
System
159
System Configuration Method
159
Specifications of Pulse Train Input Mode
160
Input/Output Signals
161
Input/Output Connector Signal Names and Pin Numbers
161
Functions of each Input/Output Signal
162
Example of Input/Output Signal Connection
166
Operation Methods
168
Designation of Pulse Train Input Mode
168
Matters to be Set for Pulse Train Input Mode
168
Protective Functions
169
Precautions for Operation
170
Operation Procedures
170
Chapter 10 Connection with External Devices
171
Input/Output Signal
171
Slave Unit Input/Output Connector Signal Names
172
Expansion Input/Output Signal Names and Pin Nos
179
Example of Input/Output Signal Connection
181
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
Overview
228
Specifications for the Maximum Torque Limit Function
228
Setting of the Maximum Torque Limit Function
228
Setting of a Maximum Torque Limit Value
229
Special I/O Signals
229
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
Designation of Single Operation Mode Input Bit
247
Designation of Continuous Start Input Bit
247
Designation of Escape Input Bit
247
Designation of Pause Input Bit
248
Designation of Program Selection Input Bit
248
Designation of Return to Origin Input Bit
249
Designation of Pausing Output Bit
249
Designation of Input Wait Output Bit
249
Setting of Teach Pendant Display (Japanese/English) Mode
249
OFF (Invalid), Easy, Point, Pulse 1, Pulse 2
250
Setting of General-Purpose Output Clear Mode
250
During Emergency Stop and Reset
250
Setting of State When Continuous Start Is Valid (Input ON)
251
Setting of State When Continuous Start Is Valid (Input OFF)
251
Setting of Direct Output Bit
251
Designation of READY Output Bit
252
Designation of Palletizing Input Bit
252
Valid/Invalid
252
Setting of Task Positioning Output
252
Setting of Task Return to Origin Output
253
Setting of CC-Link
253
Setting of Devicenet
254
Designation of Battery Alarm Output Bit
254
Moving Coordinate Table Number Output
254
In External Point Designation Mode
254
Parameter 1 Setting
255
Setting of Software Limit Value (Upper Limit)
256
Setting of Software Limit Value (Lower Limit)
256
Setting of Servo Gain (Position/Speed)
256
Setting of Pass Area
257
Setting of Origin Offset Value
257
Setting of Sequence of Return to Origin
258
Setting of JOG Speed
259
Setting of JOG Inching Movement
259
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-M40 CA20-S10 Specifications
General
Brand
Shibaura
Model
CA20-M40 CA20-S10
Category
Controller
Language
English
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