TEST CYCLE SETUP SCREEN


TEST CYCLE SETUP SCREEN

Setting up the test cycle allows you to control the conditions for test running a program. These conditions are in effect any time a program is run until you change the conditions.

Table 1.  Test Cycle Conditions

Test Cycle Condition Description

Group

This item specifies the motion group number of the program for which the test cycle conditions are being set.

Group Motion

This item determines whether the robot will move during the test cycle. If set to ON, the robot will move. If set to OFF, the brakes are set, servo power is turned off, and the robot will not move.

Dry Run

This item is only displayed if $AP_DSPDRYRN=TRUE. This item determines whether the EOAT will function during the test cycle. If set to OFF , the EOAT will function. If set to ON, the EOAT will not function.

Cartesian Dry Run Speed

This item is only displayed if $AP_DSPDRYRN=TRUE. This item determines the speed at which the robot will move during program execution when using Cartesian motion (linear or circular moves) when dry run is set to ON.

Joint Dry Run Speed

This item is only displayed if $AP_DSPDRYRN=TRUE. This item determines the speed at which the robot will move during program execution when using joint motion when dry run is set to ON. A joint dry run speed of 100 will test run the program at 100% of the programmed speed.

Jog Dry Run Speed

This item is only displayed if $AP_DSPDRYRN=TRUE. This item determines the speed at which the robot will jog when dry run is set to ON. A jog dry run speed of 100% indicates that any jogging done during dry run test cycle will be at the normal jog speed. A jog dry run speed of less than 100% indicates that any jogging done during dry run test cycle will be reduced by that percentage. The jog dry run speed is independent of the Cartesian dry run speed and the Joint dry run speed.

Digital/Analog I/O

This item determines whether digital/analog input and output signals will turn on and off during the test cycle. If set to ENABLED, the input and output signals will turn on and off. If set to DISABLED, the input and output signals will not function.

Step Statement Type

This item allows you to select at which statements the robot will pause between steps. There are the following statement types:

  • MOTION - The program pauses when the execution of each motion statement is completed.

  • ROUTINE - The program pauses after each statement is executed. However, when executing a routine, the program pauses only after every motion statement and when returning from the routine.

  • STATEMENT - The program pauses when the execution of each program statement is completed. The program pauses after executing each step in a routine.

  • TP & MOTION - The program pauses when the execution of a teach pendant statement is completed.