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.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
III-15 CB3
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