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Configuring and Transitioning In and Out of Auto Execute Modes

Each of the individual Auto Execute Modes has their own parameters that must be specified before a mode can properly operate. In addition, there are a few values in the Parameter Database that apply to all modes. These are briefly summarized in the table below. For more information on these parameters, please consult the Reference Documents section.

Parameter Database ID Parameter Name Description

200

Automatic execution mode

This value specifies the Auto Execute Mode to be executed and corresponds to the numbers presented in the previous section.

201

Actual automatic execution mode

This is a read-only item that indicates the Auto Execute Mode that is actually in effect. The actual mode may differ from the requested mode if the requested Auto Execution Mode cannot be executed.  For example, if robot power is disabled, this parameter will differ from the mode requested "Auto Execute Mode".

202

Auto start auto execute mode

If TRUE, when the system starts, the function specified by the "Auto execution mode" (DataID 200) is initiated.  Also, whenever the system has power on and no special operation is being performed, e.g. jogging, the "Auto execution mode" begins execution.   However, if "Auto execute mode start DIN" (DataID 204) is configured and is set to FALSE, this parameter is ignored.

203

Auto execute mode start

This parameter starts the execution of the "Auto execution mode" (DataID 200).  It also stops the execution provided that “Auto start auto execute mode” (DataID 202) is FALSE. If "Auto execute mode start DIN" (DataID 204) is configured and is set to FALSE, this parameter is ignored.

204

Auto execute mode start DIN

If non-zero, this defines a hardware or software DIN signal that starts and stops the execution of the "Auto execution mode" (DataID 200).  If this signal transitions from OFF to ON, it starts auto execution.  If this signal is set to OFF, auto execution mode is inhibited.

If you wish to have an Automatic Execution Mode execute without operator intervention when the system is restarted, you must configure the following:

  1. Set the switch to have robot power automatically enabled at startup.
  2. Set the switch to automatically commutate the motors at startup.
  3. If the Auto Execution Mode moves the robot in position control mode, set the switch to have the robot automatically homed at startup.
  4. Set the value of “Automatic execution mode” (DataID 200) equal to the mode that you wish to execute.
  5. Set the “Auto start auto execute mode” (DataID 202) to TRUE.
  6. If the "Auto execute mode start DIN" (DataID 204) is configured, ensure that this switch is set to ON.

For information on steps 1-3, please see the section on “Power Sequencing, Homing, and Commutation” for more information.

If you wish to have an Automatic Execution Mode whose execution is controlled semi-automatically with manual hardware interlocks, any of steps 1-3 above can be controlled via a digital input connected to a switch. This is described in the “Power Sequencing, Homing, and Commutation” section. When you configure the system in this manner, you should also implement the “Auto execute mode start DIN” (DataID 204).

Normally, the "Auto execute mode start DIN" signal is connected to a two position ON/OFF switch.  If this mechanical switch is in the OFF position, Auto Execution Mode is inhibited from running and the states of the "Auto start auto execute mode" (DataID 202) and the "Auto execute mode start" (DataID 203) parameters are ignored.  If this switch is in the ON position, Auto Execution Mode can be initiated by either the "Auto start auto execute mode" value being TRUE or by the "Auto execute mode start" being set to TRUE.  If the Auto Execute Mode is not running and you wish to initiate its execution using the mechanical "Auto execute mode start DIN" ON/OFF switch, first turn this switch to OFF and then to ON position.

Once an Automatic Execution Mode function has started running, it will continue to execute until one of the following occurs:

  1. Robot power is disabled.
  2. An error occurs, e.g. limit switch is tripped or a software limit stop is violated, excessive motor torque is generated, that disables power.
  3. A hard or soft E-Stop is triggered. Note, a RapidDecel command usually will not terminate a mode since this function can be generated as a normal process step of an application program.
  4. An ABORT command is generated via the operator console or CANopen.
  5. Auto execution mode is explicitly stopped by disabling either the "Auto execute mode start DIN" (DataID 204) or both “Auto start auto execute mode” (DataID 202) and "Auto execute mode start" (DataID 203).

After the termination condition is cleared, an Automatic Execution Mode can be restarted by setting “Auto execute mode start” (DataID 203) ON or by toggling “Auto execute mode start DIN” (DataID 204).

In the following sections, the individual modes are described.