Configuration Parameters |

Robot Number
Restart Program
Password
Instruction access level
Number of outputs
Number of inputs
Run/Stop Output
The basic operating parameters, which make up the programmer configuration, are stored in a special program called 'Config'. The parameters are:

- Robot number
- Restart program
- Password
- Instruction access level
- Number of outputs
- Number of inputs
- Run/Stop output

  The use of these parameters is described below.
  The editing of these parameters is described in Configuration

  Robot Number

  The exchange of information between the trolley and the programmer is bi-directional through infrared rays. It is possible to use more than one robot on the same rail or in the same environment. Each trolley must interact only with its own programmer, without receiving commands from other programmers. For this reason the robots use different transmission and receiving codes called 1 (default), 2, 3 etc, up to 16. The programmer must therefore have the same infrared code number as the trolley with which it has to communicate.

  This code is defined by the Robot Number parameter for the programmer.

  To codify the trolleys, refer to the following procedure:

  - Switch off the trolley.
  - Insert the manual command, simultaneously press button in the top part of the manual command, button bottom left and bottom right, and switch on.
  - Keep the buttons pressed until the trolley emits one or more acoustic signals (Beep), then release the buttons (the number of 'Beeps' emitted is the number that is assigned to the trolley in this moment).
  - To change the number of trolley, keep button pressed and press button (as if it were the memorization of the X axis) for the number of times that matches the number to be assigned to the trolley.
  - Each time button is pressed the Robot will emit a 'Beep' to confirm that the key was pressed.
  - At the end, still keeping button pressed, press button once (as if it were the memorization of the Y axis) to memorize the new number. The trolley, will emit a long 'Beep' (about a second) during the memorization phase, it will then emit a number of short 'Beeps' equal to the trolley number memorized.
  If you want to know the number of trolleys assigned, follow this procedure:
  - Switch off the trolley.
  - Insert the manual command and switch on.
  - After some seconds, the Robot will emit a number of 'Beeps' corresponding to the number of trolleys.

  Restart Program
  After running the Restart procedure, the trolley could be in a position that is not compatible with the first instruction of the program that we want to execute. If for example the first instruction was a translation to the right and the arm is at the bottom of a tank, it is clear that this instruction could not be executed.

  Through the parameter 'Restart program (0=No 1=Yes)', it is possible to specify the behavior after a Restart procedure of the programmer: The programmer will run the restart program (Prg 65) or wait until the work program is selected.

  If 0=No was specified for the Restart program, the display will show:

  Warning!!! Restart Prg == Stop

  If 1=Yes was specified, the programmer will run program Prg 65. There are two different cases:

  1. program 65 was never edited therefore and cannot be found by the programmer, the display will show:

     Prg 65 absent: press [EDIT] or [EXIT] Prg ==→65 Spd 1 Stop

     - if you choose EXIT, the programmer will be set to 'Idle'
     - if you choose EDIT, the programmer will ask to edit program 65.
       Program 65 can contain any instruction, therefore the outputs can be assigned.
       The inputs can be controlled, and Subroutines, Procedures, etc can be called,
       Thus, the machine can be set to the optimal conditions needed for start up. Typically it will include an Y nn and an X nn.
       After the saving phase, program 65 will exist, therefore you can go to the next point.
  2. program 65 exists, the display will show:

     Prg 65 Prg 65 Stop

     At this point you can choose:

     - to start with STEP or START, to execute program 65. If at the end (Jmp) of program 65, the work program has still not been selected, the programmer will stop at 'Idle' otherwise it will run the selected program.
     - change the program: in this case, program 65 will not be executed, but the program selected with the change of program will start up.
     - Press EXIT and the programmer will pass to 'Idle'.
  NOTE: program 65 cannot be executed through the program change. The only way to run this program is through the Restart procedure.
  Password
  The password is an access key to avoid that unauthorized personnel carry out sensitive some operations. The programmers are normally delivered with non-active password. The operations that require to enter a password are the following:
  - Clear the programmer; ie delete all programs and/or strings associated to messages and procedures
  - Edit Config
  - Edit a program (Prg)
  - Edit a procedure (Prc)
  - Edit a reserved subroutine (SbR)
  - Edit a subroutine (SbX)
  - Edit a subroutine (Sub)
  - Restart
  - Start executing a program after an automatic 'Restart'
  Instruction access level
  The access to editing of procedures (Prc), reserved subroutines (SbR) and instructions which can change the status of outputs, may be subject to a higher level password. This parameter identifies the status of these accesses:

  '1' shows that the access to editing is subject to a higher level password,
  '0' shows that the access to editing is only conditioned to the normal password, provided it is enabled.

  Number of outputs
  It specifies the number of physical outputs available:
  Specify 16 if you don’t have input/output expansion modules or a higher number, multiple of 8, if you have. If a number that it is not a multiple of 8 is specified, the programmer will accept it but it will consider the next higher multiple number of 8: for example, keying in 18, the programmer will assume value 24.
  Number of inputs
  It specifies the number of physical inputs available:
  Specify 16 if you don’t have input/output expansion modules or a higher number, multiple of 8, if you have. If a number that it is not a multiple of 8 is specified, the programmer will accept it but it will consider the next higher multiple number of 8: for example, keying in 18, the programmer will assume value 24.

  Run/Stop Output
  Specify the number of the output to be affected.
  The output will be activated in mode Run and inactivated in all other modes (StandBy, Step, Stop).

  It can be used to accumulate the time of operation/standstill while the machine is switched on.