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| Programming
5.3
Program Tree
Conty provides tree-based programming of robot operation.
The tree is the minimum unit of the program. A tree consists of a number of branches. Fixed
branches are those provided by default in all programs, such as program setting and execution
options, which can be edited only within a limited range, while free branches are those that can
be freely created and edited using basic commands or application commands.
Fixed branch
It is a branch that is created automatically at program startup. You cannot add or delete the
following commands in these branches, nor can their positions in the tree be changed.
Program
It allows you to save the current program as the default program. The default program
is copied to the control box so that the program can be executed by the control box
alone or as triggered by an external device, without executing Conty. The maximum
number of the default programs is ten.
Configuration
It sets the program execution option, such as how to execute the program when collision
against the robot is detected during program execution.
Variables
It declares the variables used in the program. There are five types of data and initial
values are set for each.
Free branches
It is a branch created by the user, and commands can be added or deleted freely. The command
can be repositioned arbitrary in the tree.
Basic commands
They represent the primitive instruction of the program tree. It implements a set of
essential programming commands such as robot movement, input/output of various
signals, and program flow control.
Application commands
They are application-specific commands which is a set of selectively provided commands
according to a tool or a peripheral device specifically installed in the robot.
IndyCARE commands
They are IndyCARE-specific commands which is a set of commands for sending, to the
data server, the data selected for monitoring in the configuration of the program tree.
Every branch contains at least one command, and some branches can hold a subtree. In this case,
the subtree is called the child tree, and the tree containing the subtree is called the parent tree.
Child trees belonging to the parent tree display its ownership visually by explicit indentation, and
the state of the tree is displayed in color.
Summary of Contents for INDY7
Page 1: ...Version 2 3 0 2019 08 16...
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Page 128: ...128 05 Programming Now your jointMove setup is complete...
Page 144: ...144 05 Programming Now the setting for the blending of frameMove is completed...
Page 152: ...152 05 Programming Now your home movement setup is complete...
Page 162: ...162 05 Programming stop It stops program execution No setup is required...
Page 257: ...257 The commands that can be executed by the digital input signals are listed as follows...
Page 279: ...279 If you run Conty again the language is changed and shown as follows...
Page 321: ...321 09 Certification 9 Certification 9 1 Machinery Directive...
Page 322: ...322 09 Certification 9 2 Electromagnetic Compatibility Directive...