Program header information is specific information that identifies and classifies the program.
Table 1, " Select Screen Items and Operations " lists SELECT screen items and operations.
Table 2, " Program DETAIL Screen Items and Operations " lists the SELECT DETAIL screen items and operations. The items displayed on your screen will vary.
Table 1. Select Screen Items and Operations
ITEM | DESCRIPTION |
No. |
This item is the line number. |
Program name |
This item is the name of the program. |
Attribute field |
This item is a descriptive field for each program. This field can be any of the following: Comment, Protection, Last Modified, Size, or Copy Source. |
CREATE |
Press this key to display the Create Teach Pendant Program screen from which you can create a new program listing. When you create a new program, it will be added to the Program name listing. |
DELETE |
Press this key to delete a program. |
MONITOR |
Press this key to monitor a program that is currently running. |
ATTR |
Press this key to select the appropriate attribute to display. |
COPY |
Press this key to display the Copy Teach Pendant Program screen from which you can copy one file to another. |
DETAIL |
Press this key to key to display the Program DETAIL screen. |
LOAD |
Press this key to display the Load Teach Pendant Program screen from which you can load the selected program. |
SAVE AS |
Press this key to save the selected program. You can specify the device to which the program is saved. You can also specify a new name if you want to save the file with a different name. |
|
Press this key to display the Print Teach Pendant Program screen from which you can select a program to print to the selected device. |
Table 2. Program DETAIL Screen Items and Operations
ITEM | DESCRIPTION | AVAILABLE IN JOB OR PROCESS PROGRAMS ONLY | AVAILABLE IN JOB PROGRAMS ONLY | AVAILABLE IN PROCESS PROGRAMS ONLY |
---|---|---|---|---|
Creation Date |
This item is the date on which the program name was created. |
Yes | ||
Modification Date |
This item is the date when the file was last displayed in the editor. |
Yes | ||
Copy Source |
This item is the name of the file from which the file was copied. |
Yes | ||
Positions |
This item indicates whether the program contains recorded robot positions. |
Yes | ||
Size |
This item is the size of the program in bytes. |
Yes | ||
Program name |
This item is the name of the program. |
Yes | ||
Sub Type |
This item is the kind of program you want to write. This value can be one of the following: None, Macro, or Cond (Condition Handler). |
Yes | ||
Comment |
This item is a description field for the selected program. |
Yes | ||
Group Mask |
This item identifies the group of axes, or motion group, that the program controls. |
Yes | ||
Write protect |
This item identifies whether the program can be modified. |
Yes | ||
Ignore pause |
This item indicates whether the program will continue to run when an error occurs, a command is issued, or the teach pendant is enabled. |
Yes | ||
Stack Size |
When a program is executed, a stack of 500 long words (1200 bytes) is allocated unless you specify a stack size. The stack is allocated from available user RAM. The minimum and default stack size is 500. The maximum stack size is 4000. |
Yes | ||
Collection |
If the program sub type is not a collection, then this field allows you to add the program to a collection or to multiple collections if $COLLECT_CFG.$MULTI_PROG is TRUE. Pressing ENTER will bring up a collection list so you can select one or more collections. If the program sub type is a collection, then pressing ENTER will bring up the collection editor so you can add and remove other programs to the collection. All program types can be added to a collection except collections themselves. No nesting is allowed. Refer to Section 3, "COLLECTIONS". |
Yes (for Process programs if $COLLECT_CFG.$MULTI_PROG is TRUE) | ||
NoDisp SubProg |
This item allows you to make a teach pendant screen not show the contents of the program while the program is CALLED as a sub-program or as a macro. |
|||
Cycle Time |
This item displays the cycle time for the most recent execution of the currently selected job or process. |
*** | ||
Last Cycle Time |
This item displays the cycle time for the second most recent execution of the currently selected job or process. |
* | ||
Gun On Time |
This item displays the total amount of time the gun was on for the most recent execution of the currently selected job or process. |
*, ** | ||
Last Gun On Time |
This item displays the total amount of time the gun was on for the second most recent execution of the currently selected job or process. |
* | ||
Material Volume |
This item displays the volume of the material dispensed in the most recent execution of the currently selected job or process. |
* | ||
Last Material Volume |
This item displays the volume of the material dispensed in the second most recent execution of the currently selected job or process. |
* | ||
Default User Frame |
This item displays the name of the user frame to be used by the process program. |
*, ** | ||
Default Tool Frame |
This item displays the name of the tool frame to be used by the process program. |
*, ** | ||
Part ID |
This item displays the number of the job being executed. |
Yes | ||
Equipment Number |
This item allows you to specify up to two homogeneous dispensing equipments controlled by one robot controller. |
* | ||
Line Track Schedule Number |
This item displays the current line tracking schedule. |
**** | ||
Line Track Boundary Number |
This item displays the current line tracking boundary set. |
**** | ||
Application Mask |
This item displays the currently set application in systems with more than one application available. |
*** | ||
Program Type | The program type indicates the kind of Multi-Arm program being used. This should always be set to Normal Program. | |||
Multi-Arm Main | This item indicates the status of the Multi-Arm program in the Family. It can be set to No, independent program, if it is not the main program of the Multi- arm family, Yes, Head of Family if it is the head of a family program, or Yes, Family Member if it is the main program of a family program. | |||
Head of Family | This item indicates which robot is the head of the family for this job in a Multi-Arm application. | |||
Family Members | This item indicates which robots are included as family members in a Multi-Arm application. | |||
END |
Press this key when you are finished viewing program information to return to the Select screen. |
N/A | N/A | N/A |
PREV |
Press this key to return to the previous screen. |
N/A | N/A | N/A |
NEXT |
Press this key to display application-specific program detail information. |
N/A | N/A | N/A |
1 |
Press this key to add a motion group to your program. |
N/A | N/A | N/A |
* |
Press this key to disable a motion group for your program. |
N/A | N/A | N/A |
ON/OFF |
Press these keys to set the appropriate items to ON or OFF. |
N/A | N/A | N/A |
*These items are shown only for Dispensing systems with multiple equipment, to allow you to set the equipment number for your program.
** For PaintTool, this applies to process programs only.
*** This applies to DispenseTool and SpotTool+ only.
**** This applies to DispenseTool and PaintTool only.
Program header information is displayed only the first time you create a program. If you want to view this information again, you must display it by choosing the SELECT menu and pressing the DETAIL key. See the following screen for an example.
Figure 1. Program Header Information
Program detail Creation Date: 03-FEB-xxxx Modification Date: 03-FEB-xxxx Copy Source: Positions: FALSE Size 17 Byte Program name: 1 PROG742 2 Sub Type: [None ] 3 Comment: [ ] 4 Group Mask: [1,*,*,*,* ] 5 Write protect: [OFF ] 6 Ignore pause: [OFF ] 7 Stack size: [ 300] 8 Collection: [ ] 9 NoDisp SubProg: [OFF\\\\\\\\\\\]
The following sections contain details on each kind of program header information.
Modification date is the date, according to the calendar in the controller, when the file was last displayed in the editor. This information can be displayed using the [ATTR] function key on the SELECT menu.
Copy source is the name of the file from which the file was copied. This field is empty if the file is an original file. This information can be displayed using the [ATTR] function key on the SELECT menu.
The positions item indicates whether the program contains recorded robot positions. When you first create a program, positions is always set to FALSE.
Program size is the size of the program in bytes. The program size can be displayed using the [ATTR] function key on the SELECT menu.
Sub type identifies the kind of program you want to write. These are:
None
Macro
Cond
Collection - see Section 3, "COLLECTIONS"
If you select none, the program will be created as a .TP program, which can include any instructions in your teach pendant program.
A macro program created as a .MR program can contain any instruction and function as a normal .TP program. However, only macro programs can be set up to be executed in a variety of ways including from operator panel buttons, teach pendant keys, and the Manual Functions menu. They can also be assigned a name in the macro table and be called with this name in a macro program.
Macro programs can also be called by a program when the MACRO instruction is used. Refer to the "Program Elements" chapter of this manual for more information.
A "ch" program has a Cond (Condition Handler) sub type. Refer to the "Advanced Functions" chapter of this manual for more information on the condition monitor function.
A job is a program that includes one or more processes. When you run production, you run the job that corresponds to the task you want to perform. This job contains program calls to each of the processes that will be performed during production.
A process is a program that directs the robot to perform a specific task.
These programs are created for you so that you can move to the positions you define in these programs using the Move Menu. Refer to the “Planning and Creating a Program” chapter for details on how to define and use predefined positions.
When you create a new program, you can also add a program comment to the name. A program comment includes additional information that you want to further identify the program. This information can be displayed using the [ATTR] function key on the SELECT menu, and also from the DETAIL function key.
One to 16 characters
Letters : a through z and A through Z
Numbers : 0 through 9
Symbols : _ (underscore), @ (at), * (asterisk)
Blank spaces
Punctuation: ; (semicolon),: (colon), " (quotation marks),( ) (left and right parentheses), . (period)
Should be descriptive and provide additional information, if necessary.
When you create a program, you define the group mask that identifies the group of axes, or motion group, that the program will control. Motion groups define different groups of axes that can be used for independent pieces of equipment, positioning tables, opening devices, and other axes.
There are eight motion groups available. The controller can operate a maximum of 40 axes, however, only nine axes can belong to a single motion group.
In HandlingTool and ArcTool, multiple motion groups must be set up before they can be used. Refer to the Software Installation Manual.
If a system has only one motion group, the default motion group is 1. An asterisk indicates the group is not used. You can specify a program to use all eight motion groups, but only two motion groups can perform Cartesian interpolated motion within a single program. If you disable all groups, you cannot add motion instructions to your program.
In HandlingTool and SpotTool+, when you add a motion instruction that has a motion type, the following appears on the screen:
Group mask: 1, *, *, *, *, *, *, *
You cannot change the group mask after you have added motion instructions to your program. You will not be able to select group mask in the program DETAIL screen.
When using DispenseTool and multi-group motion all programs that use motion while dispensing are required to use group mask [1,*,*,*,*,*,*,*].
For system level macro programs, the group mask cannot be changed.
Write protection allows you to specify whether the program can be modified.
When write protection is set to ON, you cannot add or modify any element in the program. When you have finished creating a program and are satisfied with how it works, you should set write protection to ON so that you or someone else does not modify it.
When write protection is set to OFF, you can create the program and add or modify any element in the program. By default, write protection is set to OFF.
This information can be displayed using the [ATTR] function key on the SELECT menu.
When write protection is set to ON, you cannot modify any program header information (program name, sub type, program comment, group mask, ignore pause) except write protection.
If the program type has been set to NONE, you can use ignore pause to specify whether the program will continue to run even when an error occurs, a command is issued (such as pushing EMERGENCY STOP or HOLD), or the teach pendant is enabled. Ignore pause is allowed only in programs that do not have motion groups specified such as an I/O monitoring program. This means that programs that use ignore pause cannot contain any motion instructions.
If ignore pause is set to ON, the program MUST NOT issue any motion instructions; otherwise, you could injure personnel or damage equipment.
When ignore pause is set to ON, the program continues to run even when an error occurs, a command is issued, or the teach pendant is enabled. This allows the program to continue any monitoring function, such as monitoring I/O.
When ignore pause is set to OFF, the program pauses when an error occurs, a command is issued, or the teach pendant is enabled.
When a program is executed, a stack of 500 long words (1200 bytes) is allocated unless you specify a stack size. The stack is allocated from available user RAM.
If a stack overflow alarm occurs, the program needs more stack. Options such as TCPMate and Cell Finder require that teach pendant programs have increased stack size.
The minimum and default stack size is 500. The maximum stack size is 4000.
Collections are used to collect programs together to simplify program maintenance. Collections are shown as a [TYPE] in the Select Menu. They are created as a new TP program type, CO. Collection names must be unique among all programs. Use the SYSTEM Configuration menu to setup collection names for CREATE. Refer to Section 3, "COLLECTIONS".
The feature allows you to make a teach pendant program not to display while the program is CALLED as a sub-program or as a macro. While running the program, the teach pendant display will not display the contents of the sub-program with the “No-Display” attribute set. When you press the ENTER key while the cursor is at the CALL statement, or when the program is paused (e.g. HOLD key is pressed), you can see the contents of the sub-program where the program is currently executing.
You can press the PREV key to return to “No Display” mode. The system also goes back to “No Display” mode when the sub-program returns.
The program type indicates the kind of Multi-Arm program being used. This should always be set to Normal Program.
This item indicates the status of the Multi-Arm program in the Family. It can be set to No, independent program, if it is not the main program of the Multi-arm family, Yes, Head of Family if it is the head of a family program, or Yes, Family Member if it is the main program of a family program.