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3.6 PROGRAM EXECUTION ENVIRONMENT
3.6.1 Program Execution Environment
The following items are conditions for automatically operating a program.
①
Execution file
A file for automatically operating the robot. Normally, this file is selected by using the
"SELECT" command in the internal automatic mode.
In the external automatic mode, the execution file can be selected by using an external control
signal.
②
Execution step
A step for executing a program. Even if the automatic operation of the program is stopped, the
program can be executed from the subsequent step.
③
Variables
Variables used in the program.
④
Digital output signals
Output signals for synchronously operating a robot language program and peripheral units.
Basically, the output signals are specified by the robot language program.
Once the signal is output, it is kept on until the off command is executed.
When the power is turned off, the signal is turned off. When the power is turned on, all the
output signals are in the off state.
⑤
Auxiliary output signals
Signals for controlling an end effector such as a hand. Basically, the auxiliary output signals are
specified by the robot language program.
Once the signal is output, it is kept on until the off command is executed.
When the power is turned off, the signal is turned off. When the power is turned on, all the
output signals are in the off state.