Program structure nodes

You can configure the step sets in each node by using the checkboxes to enable/disable individual steps.

 

• Startup Check: Intended for use once at the beginning of a robot program, this node ensures the robot and machine are set up correctly before molding starts.

  

• Wait for Item: Intended for making the robot wait until an item is ready from the IMM.

  

• Ejector Back: Enables the movement of the ejector to its back position.

  

• Ejector Forward: Enables the movement of the ejector to remove an item from the mold. Should be used when the robot is in position ready for grasping the item.

  

• Core Pullers In: Enables the movement of the core pullers to position 1. The core pullers used are selected from the drop down menu.

  

• Core Pullers Out: Enables the movement of the core pullers to position 2. The core pullers used are elected from the drop down menu.

  

• Free to Mold: Signals to the IMM that it is allowed to start a molding operation. When this signal is activated, the robot must be placed outside the IMM.

  

• Template: Uses a predefined program structure to perform simple interaction with the IMM.