Abstract

"Teaching" is where for you to review and edit the program of the IML robot. As a modular designed control system, after the mode selecting, parameters setting, timer setting, counter setting, you'll get an initial program for your IML project. In "Teaching" page you can do some minor adjustment of the program to have the IML robot working more efficiently.

Description of each marking area:

No.	Name	Function
(1)	Program Select/Display	Click the pop-up "Program List", select the program number you want to add, edit, or view, and click to enter the editing interface.
(2)	Program extension display	Click , enter the extended interface of the program display for easy observation of the complete command content.
(3)	Return	Click to exit the tutorial editing interface, if the program has been changed, it will prompt compilation.
(4)	Instruction content	The content of the command is displayed.
(5)	Label Column	Jump to the editing area of the tab. Click to add a label before the command line (when creating a new label, you can click "EN" without entering a number, and an unused label number will be automatically added).
(6)	A first-level list of instructions	IO Signals: The interactive processing of common signals (injection molding machine, manipulator and jig) can be set to call the written convenience functions. You can also edit the output logic yourself. Servo: Editing of various axes running instructions. Delay: Delay the editing of the command. Process: Wait, Invoke, Jump, Start Parallel Program, Retrun, Counter Edit. Special commands: System pause, alarm output, internal flag output editing.
(7)	Command secondary list and parameter settings	Sub-list command editing and parameter setting.
(8)	Command editing shortcuts	Copy: Select the command line you want to copy and click "Copy". Paste: After copying, select the position you want to paste, and click "Paste" to generate 1 copy command above the selected command line. Delete: Select the command line and click "Delete" to delete the command line. Save: After the modification, click Save to trigger the compilation and save the entire teaaching program. Move Up: Select the command line and move the command line up. Move Down: Select the command line and move command line downward. Change: Select the command line, modify the command type or parameters at (7), and click "Change" to complete the modification of the command. Insert: Select the command line, edit the command content, and click "Insert" to generate the command line above the selected command line.
(9)	Axis position display	The current position of each axis is displayed for easy observation.

Below details of how to "Teach" an IML Robot Program:

1. Select the program which you want to edit

   Click on the program name display area to enter the program list.

   

   The interface is as follows:

   

   Autorun (001-099): 001 is the main program that can be edited by the user, 024-083 are user-created and edited subroutines.

   Manual operation (#178-#249):

   • #178-#189: They are programs that is triggered by the button on the right side of the teach pendant when it is manual.
   • #190-#249: They are manual operations - I/O operation interface, and the 6 pages of output buttons correspond to the triggered program.
   System Programs (#100-#177, #250-#255)
   • #100-#177: They are a system program block that can be callsed as the main program.
   • #250: It is an automatic return to the origin program.
   • #251-#255: They are a process of stop, automatic stop, and emergency stop.
   New: Click New Subprogram, edit the subprogram number in the pop-up keypad, and "EN" confirms.
   Delete: Click the "Delete" button, then click the program on the left, OK, and the deletion is completed.
   

2. Editing Instructions
   

   The editing interface is as shown in the figure above, and the new command line is divided into the following 6 steps:

   1. Click on the selected command line as shown in icon number 1 above (The selected command line will turn yellow).
   2. As shown in icon number 2 above, click insert to add a line of the same command above the selected command line.
   3. The new command line is selected, change the order category, and select it in label 3.
   4. Subdivide the category of the instruction by marking 4.
   5. After selecting the change command category through 3 and 4, set the specific parameters in 5.
   6. Click "Change" at mark 6, and this instruction will be changed.

   Below are some of the most commonly used commands:

   1. Convenience Functions:

      When teaching application programming, it's not recommended that users edit the basic X and Y point logic for the standard IO control of the injection molding machine and manipulator (IML Robot here), and should call the function subroutine of the system to ensure the accuracy of the program. These subroutines are placed in the "IO Signals" class.

      

      As shown in the figure above, the programming steps are set step by step according to 1 (Major category), 2 (sub-catgeory), 3 (Specific instructions), and 4 (Specific parameters), and after the completion, click "Change" or "Insert".

      When editing the convenience functions related to the IML robot, you can use the buttons in the following figure to operate the IML robot related jigs (You can observe the ON/OFF of the sensing signal by turning the dot on or off on the right ), it is convenient to program simulations in real-world operating scenarios.

      
   2. External Output

      To edit the output logic of the I/O point, the editing interface is as follows:

      

      In the editing interface of the above figure, click on the label number 3 to √, mark 4 becomes editable, select the Y point ON or OFF to be output, and confirm. If you want to output IML robot Y-points at the same time, at designator 5, √ to start editing the output of the second Y-point. When you're done, click "Change" or "Insert".

   3. Axis Movement

      Edit the movement commands of the servo axis, including moving to a fixed point (the point is defined, can be modified in the "Position Setting", and can be referenced), any point, stacked point (the position is set in the "Stack" in the menu), and the axis back to origin command, etc. Take a fixed point as an example:

      

      As shown in the figure above, select the specific point at label 3, then select the axis to run at label 4, and set the point and speed at label 5. When you're done, click "Change" or "Insert".

   4. Delay

      There are two types of editing delay commands: specifying the time and specifying the timer (the timer time can be changed when it runs automatically).

      

      Note: If you want to use a timer when teaching programming, prefer the T85-T100, which are user timers that are not specifically defined.

   5. Invocation/Program start

      Invocation and program startup are both ways of using subroutines. The difference is that when a subroutine is called, it waits for the execution of the instruction in the subroutine to end (to the "return" instruction), and the call is considered complete, and the next instruction can be executed in the main program. On the other hand, you do not need to wait for the startup subprogram to be executed, and you can directly start the next step of the main program (the main program and the subprogram are executed in parallel).

      The steps to edit the program startup command are as follows:

      

      Note: The program starts the open subprogram, which can be closed by "Program stop" above (under normal circumstances, the subprogram will be automaticall closed after the execution is completed and the "return" instruction is reached).
      The steps to edit the invocation command are as follows:

      

      As shown in icon number 4 above, when editing the call instruction, you can choose whether to set the condition, select "unconditional", and then set the subroutine number to be called at mark 5 to complete the call. If you select "Conditional", you need to complete the condition setting first, then set the program number at 6 labels, and click "Change" or "Insert"

      Note that when the previous conditional judgement is not true, the subsequent call will not be executed, but the next line of instructions will be started.

   6. Jump/Conditional Jump

      Jump command: The program is executed to the jump command, and the next step will execute the command line with the corresponding tag, instead of executing it in the next order.

      Jump/conditional jump, the command editing steps are as follows:

      

      Select whether you want to set conditions in label 4, set conditions in label 5 (you can set multiple conditions), set label numbers in label number 6, and select "Change" or "Insert" to generate commands. Then fill in the label column shown in label number 7, before the target command line.

      If a "conditional" jump is used, the previous condition judgement is not valid, and the subsequent jump is not executed, and the next line of instructions will be started directly. If the condition is true, run the command line that jumps to the label.

   7. Internal output

      The output of the internal flag is ON/OFF, and the editing procedure is shown in the icon number below.

      
   8. Shortcut edit button for the command line
      

      As shown in icon number 1 above, select the command line you want to edit (turn yellow) and then use the button at label 2 to perform the operation.
      The functions of each button are as follows:

      • Copy: Slect the command line you want to copy and click "Copy".
      • Paste: After copying, select the position you want to paste and click "Paste" to generate one of the previously copied instructions above the selected command line.
      • Delete: Select the command line and click "Delete" to delete the command line.
      • Move Up: Select the command line and move the command line up.
      • Move Down: Select the command line and move the command line downward.

3. Compile and save

   When the program is edited, you can click "Save" or "" or jump to other settings pages to trigger the "Compilation" prompt, click "Yes", and wait for the editing to complete (it will be automatically saved after compilation).

   

4. The program is run on a trial basis

   Toggle the know in the upper left corner of the teach pendant to AUTO enter the automatic operation interface. Go to the teaching, as shown below, and click on the " " icon shown in label 1, enter the extended display screen. Click label 2 "Single step" to enter the single step state, press the label 3 "" button once, and the program will go down to 1 step.
   The progress of the program can be viewed at number 4, "Program No" is the number of the program being executed, and "Step No" is the number of the program being executed.