5
Startup
Control via the process controller
Assembly and Operating Instructions – Parallel Arm Kinematics Kit
49
3. Click the [Add] button.
4. Parameterize the waiting for end of motion:
[1]
[2]
[3]
20631220235
[1]
Line Number
[2]
Identification for a wait command
[3]
Argument of the wait command: End of motion
End of program
Ends the program.
END_PROG
Adding end of program
1. Mark the line under which you want to insert the end of program.
2. Select the value "END_PROG" in the drop-down list "New Block".
3. Click the [Add] button.
5.6.7
Variables
Variable
Description
BOOLVAR[i]
Variables with name and value of the bool variable. These
variables can be written and read by the IEC and the robot
program.
REALVAR[i]
Variables with name and value of the floating point variable.
These variables can be written and read by the IEC and the
robot program.
POSEVAR[i]
Variables with names and coordinates of the poses. These
variables can be written and read by the IEC and the robot
program.
MOTION_DONE
Robot has executed all of the travel commands and is at a
standstill.
BlendingDist
Translational blending distance.
5.7
Control via the process controller
5.7.1
Process controller
After startup, the controller is ready for operation. The process controller includes:
•
IEC user program on the MOVI-C
®
CONTROLLER
•
Fieldbus of the PLC
•
Robot monitor
25797530/EN – 04/2018
