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9 SOFTWARE CONFIGURATION
9.1 Project Configuration
9.1.1 Program
Here you can set the robot and logic program, the movement speed (as a percentage of the maximum
speed), the replay mode and the reaction to program errors.
9.1.2 Tool
The mounted tool can be defined here. Changing the tool requires reloading the project or restarting
the integrated control.
New tools can be defined as configuration file in the directory "Data/Tools". New and changed tools
are not automatically synchronized with the integrated control. To commit changes, open the "File"
→
"Tool Configuration" area, click the "Add" button in the "Tool Configuration" area and select the
new tool configuration file.
9.1.3 Inputs/Outputs
Here the number of input/output modules and the behavior of the inputs/outputs can be set. The ba-
sic inputs/outputs are only relevant for robots of the Mover series, all other robots are configured via
the "DIN-Rail inputs/outputs" area. The global signals are internal flags for communication between
robot programs and PLC.
For each digital output can be specified which state is assumed at reset and in case of error.
9.1.4 Virtual Box
The virtual box defines an area that the tool center of the robot must not leave. If the limits are ex-
ceeded, the movement stops.
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