Program mode

Program mode is used by SRL programs to travel along the path points. The following edge-controlled signals are used for program control:

Start, pause, stop

Program execution may be in one of the following states:

Program not initialized, program initialized, program is executed, program paused, program terminated, repositioning required, repositioning active

The following diagram illustrates the transitions between the different states:

 

For further information on the SRL program, refer to chapter SRL programming.

INFORMATION

– Even when the program has ended, repositioning can be successful, e.g. if you jog off the path or if the setpoint is no longer active. If you do not want to carry out repositioning, you can suppress it by stopping the program.
– A program can only be changed if the current program has been initialized or is finished. If the program number is changed while the current program has already started but is not yet finished, an error message is issued.
– If you wish to abort a program and start another program, you have to stop and initialize the current program by carrying out a program stop.