Using i_xDoNotUseDefaultCmdTables

Overview

• If i_xDoNotUseDefaultCmdTables is set to FALSE, the CmdTable is generated automatically. The robots and conveyor automatically switch to the operation mode that is set for the RobotCell.

  For example: SR_<RobotCell>.iq_stStandardModuleItf.iq_diCmd := SERT.ET_RobotCellCmd.Prepare executes a homing for robots and conveyor.

• If i_xDoNotUseDefaultCmdTables is set to TRUE, create the command tables and call them.

  A way to do this is to create a method for the SR_<RobotCell>, for example, Init_Cmd_Tables_User and to call this method in the configuration method of SR_<RobotCell>.Configuration().

  The Explorer Tab provides for Init_Cmd_Tables_User in the Code snippets tab, the method Init_CmdTables_User_Example that contains the variables that are already declared in the SR_<RobotCell> and an example of how the tables could be filled in case of robots and two conveyors.