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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 3.10
III-15
CB3
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