18.3 Program structure functionality
The structures are all made to achieve a proper and safe interaction with the IMM, and therefore
they all include tests that certain signals are set correctly. Also, they may set more than one
output to enable only one action.
When a program structure is inserted into a robot program, it can be customized by selecting
the structure in the program, and then clicking on the Command tab. All program structures
consist of a number of steps. Most of the steps are enabled per default, and some cannot be
disabled because they are essential to the structure intention. The Test steps make the program
stop if the test condition is not met. Both the state of inputs and outputs are testable. Set output
steps set a specified output to either high or low. Wait until steps are typically used for waiting
until a movement has been finished before continuing with further steps and following program
nodes.
18.3.1 Startup Check
Intended for use once in the beginning of a robot program, to make sure the robot and machine
are set up correctly before moulding is started. Use the checkboxes to enable/disable individual
steps.
18.3.2 Free to Mould
Used for signalling the IMM that it is allowed to start a moulding operation. When this signal
is activated, the robot must be placed outside the IMM. Use the checkboxes to enable/disable
individual steps.
Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
III-13 e-Series
To Next Page
Loading...
