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4.3.4. Initialization of variables and signals

4.3.4. Initialization of variables and signals​

 

The Variable initialization program (Job program #200) is a job program used to designate the initial values of various variables that are used in the standard program. Most of the values are processed in the standard program internally. They are created automatically by HRpal or HRpalware.

However, in case of the pickup height in the 28th line, the values that are designated directly by the user will be used. Once the standard program is created, the user shall carry out the change manually (Figure 4.2). When it comes to the Print and Stop section of the #2, #3, #42, and #43 lines, deleting after changing the job program shall be carried out to run the robot.

 

 

Figure 4.2 Meaning of V!121~136 variables

 

In addition, when the standard program is saved by using HRpalware, the data comments and various data monitoring lists for variables will be created automatically. When this function is used, it is possible to monitor the palletizing process directly from the teaching pendant.

 

Program 2 Program for initializing variables

Program File Format Version  1.6  Mech Type: _MECHTYPE  Total Axis: _TOTAL_AX  Aux Axis: _AUX_AX

1      ''Initialize Variable

2      PRINT #0, "Change the values of variables and then delete Print or Stop."

3      STOP

4      V%[1]=0 'Start Signal

5      V%[5]=0 'Current Working Pallet Number

6      V%[6]=0 'Previous Working Pallet Number

7      V%[7]=1 'Package Number

8      V%[8]=1 'Previous Package Number

9      ''Total package count

10     V%[121]=36 'Total Package #1

11     ''Odd layer package count

12     V%[151]=9 'Odd Layer Package #1

13     '' Even layer package count

14     V%[181]=9 'Even Layer Package #1

15     ''Top layer package

16     V%[211]=9 'Top Layer Package #1

17     ''Slip sheet count

18     V%[241] = 0 'Total Slip sheet #1

19     ''First slip sheet insertion or not

20     V%[271]=0 'Slip sheet Stack First-layer #1

21     ''Top slip sheet insertion or not

22     V%[301]=0 'Slip sheet Stack Top-layer #1

23     'Package length, width and height

24     V![31]=400 'Package Length #1

25     V![61]=300 'Package Width #1

26     V![91]=300 'Package Height #1

27     'Package pick height

28     V![121]=0 'Pickup Height #1

29     'Decision regarding workpiece counter resetting or not

30     'When the workpiece counter is reset, the slip sheet and layer counters will be reset together

31     FOR V%[3]=1 TO 16

32          IF V%[30+V%[3] <> 0 THEN

33               PRINT #0, "1:Continue, 2: Reset

34               INPUT #0, V%[2]

35               IF V%[2]<>1 THEN

36                    V%[30+V%[3]=0 'Workpiece counter reset

37                    V%[60+V%[3]=0 'Slip sheet counter reset

38                    V%[90+V%[3]=0 'Layer counter reset

39               ENDIF

40          ENDIF

41     NEXT

42     PRINT #0, "Change the values of variables and delete Print or Stop."

43     STOP

44     END

 

The Signal initializing program (Job program #300) is used to record the signals that shall be initialized before executing relevant programs. At the initial stage, there is nothing defined. Signals shall be recorded according to relevant processes.