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6.4
Starting and stopping a programme
After referencing, the robot is ready to replay a programme.
1.
To do this, press the "Play" button at the top
edge of the display and use the "prev" and
"next" buttons to select the
Igus5DOF_TestMotion
programme.
2.
Load the programme using the "Load" button
3.
Let the programme replay once using "Single
Play".
4.
"Cont. Play" plays the loaded programme
continuously.
5.
„Stop“ stops the movement.
6.
The slider "Override" can be moved to the right
to increase the speed of the movement or to
the left to decrease it.
6.5
Set the digital inputs/outputs
The digital outputs can be activated and deactivated by pressing the illustrated switches.
If e.g. a gripper is connected to the digital I/O
module, this can be activated or deactivated by
switching the illustrated switches.
If a signal is present at the digital input, it will be
displayed in the digital inputs field at the bottom
edge of the display.
The three buttons on the left side allow you to switch between several DIO modules.
If a signal is present at the digital input, it will be displayed in the digital inputs field at the
bottom edge of the display.
For details about the pin assignment of the inputs and outputs, see section 4.2.
