Process sequence

Programs may be started as follows:

• First, specify the program number. If needed, re-parameterize the SRL program variables (path poses; REAL and BOOLEAN variables).
• Once the program is initialized, start it using a program start.
• In "Manual high speed" operating mode, the start button must remain activated until the entire program has finished processing.
• For each program sequence, you can also connect the wait signals while the program is being processed.
• When the system detects that the program is complete, the sequence starts again from the beginning.

The following flow diagram shows how you can continuously run programs. Before the displayed sequence can be performed, make sure the requirements for carrying out a motion in program mode are fulfilled; see chapter Prerequisites for movements of the robot.

Comments

• The new values take effect once the robot executes a command that uses the variable. See chapter Running an SRL program.
• The SRL command CallFunction can be used to write the robot variables. The CallFunction executes the contained IEC code clearly defined and consistent in the program flow at the position where the CallFunction is located in the SRL program. For example, MotionSets can also be described in the CallFunction (using a method in the user interface).