Programming Control Interface

Overview

EcoStruxure Cobot Expert provides a visual programming interface which contains programming blocks and assisting dialog boxes to develop the program code for the Lexium Cobot.

To open the Programming Control interface, select Programming Control in the feature bar.

1 Instructions menu

2 Editing area

3 Run the program

4 Speed setting of the program

5 New programming file

6 Save the programming file

7 Save as the programming file

8 Open a programming file

9 Advanced Operation

10 Debug mode

11 Lock the program

12 Variable Observation in the editing area

13 Undo the last action

14 Redo the last undone action

15 Zoom in the editing area

16 Reset view of the editing area

17 Zoom out the editing area

The header of the job program consists of the yellow New Program instruction block, which is placed in by default.

The following instructions, connected to the head, form the body of the job program. The Lexium Cobot Arm executes the program step by step from top to bottom.

NOTE: To edit the name of the program, click the instruction block.

Running a Program

Step

Action

1

Power on and enable the Lexium Cobot Arm.

2

In the feature bar, select Programming Control. Then, click the Run icon from the top menu.

Result: The Lexium Cobot runs the program.

NOTE: When the program is running, the Run icon is replaced by the Pause icon for pausing the program and the Stop icon for stopping the program.

Adjusting the Running Speed

Step

Action

1

In the feature bar, select Programming Control. Then, click the Speed icon from the top menu.

Result: The speed bar is displayed under the speed icon. 100% corresponds to the value that is defined in the program.

2

There are two options to adjust the running speed:

  • Slide the speed bar to set the running speed of the Lexium Cobot Arm.

  • Click the percentage value under the speed bar and enter the running speed.

Creating a New Program

In the feature bar, select Programming Control. Then, click the New icon on the right of the editing area.

Result: The new program is created.

Renaming a Program

Step

Action

1

Click the New Program block.

Result: The name setting dialog box is displayed.

2

Type in the name of the program and click Confirm.

Result: The program is renamed.

Saving a Program

You have two options to save the program:

  • To save the program as the latest version, click the Save icon on the right of the editing area.

  • To save the program under a new file name, click the Save as icon on the right of the editing area.

Displaying the Programs

Step

Action

1

In the feature bar, select Programming Control. Then, click the Open icon on the right of the editing area.

Result: The programs saved in the Lexium Cobot Controller are displayed.

2

To sort the program list differently, click Name, Date, or Size.

Open a Saved Program

Step

Action

1

In the feature bar, select Programming Control. Then, click the Open icon on the right of the editing area.

Result: The programs saved in the Lexium Cobot Controller are displayed.

2

Click the name of the program to be opened.

Result: The program opens.

Importing a Program

To import an exported program to the connected Lexium Cobot Controller, perform the following steps:

Step

Action

1

In the feature bar, select Programming Control. Then, click the Open icon on the right of the editing area.

Result: The programs saved in the Lexium Cobot Controller are displayed.

2

In the Programming project list dialog box, click the Import icon:

Result: The file manager dialog box is displayed.

3

Select the program to be imported.

4

Click Confirm.

Result: The program is imported to the Lexium Cobot Controller and is added to the Programming project list.

Exporting a Program

To export the program saved in the Lexium Cobot Controller, perform the following steps:

Step

Action

1

In the feature bar, select Programming Control. Then, click the Open icon on the right of the editing area.

Result: The programs saved in the Lexium Cobot Controller are displayed.

2

In the Programming project list dialog box, click the Export icon:

Result: Checkboxes for the listed programs are displayed.

3

Select the program to be exported.

NOTE: Up to five programs can be selected at the same time.

4

Click Confirm.

Result: The file manager dialog box is displayed.

5

Select the path to export the program.

6

Click Confirm.

Result: The program is exported.

Deleting a Program

Step

Action

1

In the feature bar, select Programming Control. Then, click the Open icon on the right of the editing area.

Result: The programs saved in the Lexium Cobot Controller are displayed.

2

In the Programming project list dialog box, click the Delete icon:

Result: Checkboxes for the listed programs are displayed.

3

Select the program to be deleted.

NOTE: Up to five programs can be selected at the same time.

4

Click Confirm.

Result: The following confirmation prompt is displayed.

5

Click Confirm.

Result: The program is deleted.

Display the Advanced Operation Menu

In the feature bar, select Programming Control. Then, click the Advanced Operation icon on the right of the editing area.

Result: The Advanced Operation menu and the check boxes of the instruction blocks are displayed.

Select All Instructions

To select all instructions in the editing area, perform the following steps:

Step

Action

1

In the feature bar, select Programming Control. Then, click the Advanced Operation icon on the right of the editing area.

Result: The Advanced Operation menu and the check boxes of the instruction blocks are displayed.

2

Click the Select All icon.

Result: All instructions are selected.

Copy Instructions

To copy selected instructions from the sequence and paste them into the editing area, perform the following steps:

Step

Action

1

In the feature bar, select Programming Control. Then, click the Advanced Operation icon on the right of the editing area.

Result: The Advanced Operation menu and the check boxes of the instruction blocks are displayed.

2

Select the instructions to be copied.

3

Click Copy.

Result: The selected instructions are inserted into the editing area.

Copy Instructions Across Programs

To copy selected instructions and insert them into the editing area of another program, perform the following steps:

Step

Action

1

In the feature bar, select Programming Control. Then, click the Advanced Operation icon on the right of the editing area.

Result: The Advanced Operation menu and the check boxes of the instruction blocks are displayed.

2

Select the instructions to be copied.

3

Open the program or subprogram into which you want to insert the instructions.

Result: The following confirmation prompt is displayed.

4

Click Yes.

Result: The subprogram or program is opened and the Advanced Operation menu is displayed.

5

Click Copy the collection to finish the cross-program copying instruction.

Result: The selected instructions are inserted into the editing area of the program.

Delete Instructions

Step

Action

1

In the feature bar, select Programming Control. Then, click the Advanced Operation icon on the right of the editing area.

Result: The subprogram or program is opened and the Advanced Operation menu is displayed.

2

Select the instructions to be deleted.

3

Click Delete.

Result: The selected instructions are deleted.

Hide the Advanced Operation Menu

Click Cancel or Advanced Operation icon.

Result: The Advanced Operation menu is closed.

Single-Step Debugging of the Program

To execute the program instruction in single step, perform the following steps:

Step

Action

1

Power on and enable the Lexium Cobot Arm.

2

In the feature bar, select Programming Control. Then, click the Debug mode icon on the right of the editing area. Then click Single-Step Debugging.

Result: The following prompt is displayed:

3

Click Confirm.

Result: The Manual Operation interface is displayed.

4

Click and hold Move to this point by joint until the prompt Robot has reached the position is displayed.

5

Click Confirm in the prompt and then Confirm in the Manual Operation interface.

6

Click Single-Step Debugging.

Result: The Lexium Cobot starts to run the program. The red arrow on the left side of the instruction indicates the next instruction to be executed. During the single-step debugging operation, the illuminated ring of the Lexium Cobot Arm flashes yellow at the hardware and at the representation in the Home screen of the software.

7

Click Next step.

Result: The Lexium Cobot executes the next instruction.

8

Repeat Step 7 for the other instructions, then click Stop Debugging to stop running the program.

Locking the Program

In the feature bar, select Programming Control. Then, click the Lock icon on the right of the editing area so that it becomes green.

Result: The program is locked and cannot be edited.

Unlocking the Program

In the feature bar, select Programming Control. Then, click the Lock icon on the right of the editing area so that it becomes grey.

Result: The program is unlocked and can be edited.

Variable Observation

You can monitor the values of the variables in real time in the running program.

Four types of variables are available:

  • System variables

  • Program variables

  • Speed variables

  • Position variables

Monitoring a Variable

To monitor a variable, perform the following steps:

Step

Action

1

In the feature bar, select Programming Control. Then, click the Variable Observation icon on the right of the editing area:

Result: The Variable observation dialog box is displayed.

2

Click the Settings button.

Result: The Observation variable setting is displayed.

3

In the Variable to be observed table, click on the variables you want to monitor.

Result: The selected variables are displayed in the Observation variable table.

4

Click Confirm.