4.3. Program configuration

Table 4‑3 Job numbers and roles in the standard program

Job Number	Role	Description
1	Main	Overall flow managing
50	Vacuum On	Records signals for the griper to hold objects
51	Vacuum Off	Records signals for the griper to release objects
100	Process parameter setting
200	Initialization of variables
300	Initialization of signals
400	Home position and workpiece position pose program	Needed to record the position by using the pose constant in the defined pose variable.
451~466	Tool control program	Controls the positions of individual tools
501~516	Each pallet loading pattern shift variable program	To be created automatically by HRpal and HRpalware
551~566	Slip sheet shift variable program	To be created automatically by HRpal and HRpalware
601~616	Pallet coordinate creating program	Needed to create the user coordinate on the pallet and to record the origin of the work as well as the points on the X axis and X-Y plane
701~716	Pallet parameter setting
751~766	Palletizing motion program	Executes palletizing by moving the robot
801~816	Slip sheet parameter setting
851~866	Slip sheet motion program	Places a slip sheet by moving the robot
999	Error handling program	Program for indicating errors when they occur
1001	(Simulation) test setup program	To allow users to use simulated values to check whether the set values work normally.
1002	(Simulation) test ending condition check	To record the ending condition to check the cycle times

4.3. Program configuration​