PROGRAM ELEMENTS
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PROGRAM ELEMENTS
Table of Contents
PROGRAM ELEMENTS
1. OVERVIEW
2. PROGRAM HEADER INFORMATION
2.1. Overview
2.2. Creation Date
2.3. Modification Date
2.4. Copy Source
2.5. Positions and Program Size
2.6. Sub Type
2.7. Program Comment
2.8. Group Mask
2.9. Write Protection
2.10. Ignore Pause
2.11. Stack Size
2.12. Collection
2.13. No-Disp Sub-Program
2.14. Program Type
2.15. Multi-Arm Main
2.16. Head of Family
2.17. Family Members
3. COLLECTIONS
3.1. Overview
3.2. Adding to a Collection
3.3. Displaying a Collection
4. LINE NUMBER AND PROGRAM END MARKER
5. MOTION INSTRUCTION
5.1. Overview
5.2. Motion Type
5.3. Positional Information
5.4. Position Confirmation
5.5. Motion Status Display
5.6. Frame Number of Positional Data
5.7. Speed
5.8. Termination Type
6. MOTION OPTIONS INSTRUCTION
6.1. Acceleration Override
6.2. Advanced Constant Path
6.3. Break
6.4. Constant Path
6.5. Coordinated Motion
6.6. Corner Distance Control Option
6.7. Extended Velocity EV Motion Option
6.8. FacePlate Linear
6.9. Incremental Motion
6.10. Offset
6.11. Offset Position Register
6.12. Remote TCP Motion Option (optional)
6.13. Search [ ] Motion Option
6.14. Skip Jump
6.15. Skip Label
6.16. Time Before / Time After
6.17. Tool_offset
6.18. Tool offset position register
6.19. Torch Angle
6.20. Wrist Joint
7. BASIC PROCESS AXES INSTRUCTIONS (OPTION)
7.1. Overview
7.2. SET ISDT SPEED Instruction
7.3. STOP ALL ISDT Instruction
8. BRANCHING INSTRUCTIONS
8.1. Overview
8.2. Label Definition Instruction LBL[x]
8.3. Unconditional Branching Instructions
8.4. Conditional Branching Instructions
8.5. Wizard to Input Arguments
9. FOR/ENDFOR INSTRUCTIONS
9.1. Overview
9.2. FOR/ENDFOR Instruction Specification
9.3. Teach FOR/ENDFOR Instruction
9.4. Execution examples
9.5. Alarms
10. INPUT/OUTPUT INSTRUCTIONS
10.1. Overview
10.2. Digital Input and Output Instructions
10.3. Robot Digital Input and Output Instructions
10.4. Analog Input and Output Instructions
10.5. Group Input and Output Instructions
10.6. Input and Output Instruction Format
11. MACRO COMMAND INSTRUCTION
12. MATH FUNCTION INSTRUCTIONS
12.1. Type of Math Functions
12.2. Instruction Format of Math Function
12.3. Function Specification of Math Functions
12.4. Background Operation of Math Function
12.5. Teach Math Function Instruction
12.6. Restriction of Teaching Math Function
12.7. Exceptions and Restriction
13. MISCELLANEOUS INSTRUCTIONS
13.1. Overview
13.2. RSR Enable/Disable Instruction
13.3. User Alarm Instruction
13.4. Timer Instruction
13.5. OVERRIDE Instruction
13.6. Remark Instruction
13.7. Multi-lng Remark Instruction
13.8. Line Remark (Comment out) Instruction
13.9. Message Instruction
13.10. Parameter Name Instruction
13.11. Maximum Speed Instruction
14. MIXED LOGIC INSTRUCTIONS
14.1. Overview
14.2. Data Types
14.3. Operators
14.4. Expressions
14.5. Adding Mixed Logic Instructions
14.6. Background Logic
14.7. Backup/Restore
15. MULTIPLE CONTROL INSTRUCTIONS
16. OFFSET/FRAME INSTRUCTIONS
17. PARAMETERS FOR PROGRAM CALL AND MACRO INSTRUCTIONS
17.1. Overview
17.2. Parameter Instruction Syntax
17.3. String Value Selections
17.4. Argument Registers
17.5. Guidelines for Using Parameters
17.6. Including Parameters in Program Call and Macro Instructions
17.7. Including Argument Registers in Sub-Programs
18. POINT LOGIC INSTRUCTION
18.1. Overview
18.2. Point Logic Instruction
18.3. Point Logic View Function
19. POSITION REGISTER INSTRUCTIONS
19.1. Overview
19.2. PR[x] Position Register Instructions
19.3. PR[i,j] Position Register Element Instructions
20. PROGRAM CONTROL INSTRUCTIONS
20.1. Overview
20.2. PAUSE Instruction
20.3. ABORT Instruction
20.4. Maintenance Program Instruction
20.5. Clear Resume Program Instruction
20.6. Return Path Disable Instruction
21. PROCESS SYNCHRONIZATION
22. REGISTER INSTRUCTIONS
23. SKIP INSTRUCTION
24. STRING REGISTER INSTRUCTIONS
24.1. Overview
24.2. String Register Assignment and Concatenation
24.3. String Conversion and Precedence
24.4. STRLEN Instruction
24.5. FINDSTR Instruction
24.6. SUBSTR Instruction
25. VISION INSTRUCTIONS
25.1. Overview
25.2. RUN_FIND
25.3. GET_OFFSET
25.4. GET_PASSFAIL
25.5. GET_NFOUND
25.6. SET_REFERENCE
25.7. OVERRIDE
25.8. CAMERA_CALIB
25.9. VR[]. MODELID
25.10. VR[].MES[]
25.11. VR[].FOUND_POS[]
25.12. VR[].OFFSET
25.13. VR.[].ENC
25.14. RUN_FIND SR[]
25.15. GET_OFFSET SR[]
25.16. SET_REF SR[]
25.17. CAMERA_CAL SR[]
25.18. GET_PASSFAIL SR[]
25.19. GET_READING
25.20. SAMPLE PROGRAM
25.21. Re-Calibration and Verification Sample Program
25.22. Bar Code Reading Sample Program
25.23. Inspection Sample Program
25.24. 2D Single Multi-View Vision Process
25.25. Calling Vision by String Register Sample Program
26. WAIT INSTRUCTIONS