EDIT
The EDIT screen is the editor for our teach pendant programs. It is the place where code is entered, modified, and organized.
Pressing EDIT takes you to the editing page for the currently selected program. Use this key whenever you need to get back to your program from another page on the teach pendant.
To change numerical values on instructions (such as positions, speed, or continuous percentage) press the variable on the touch screen, or use the arrow keys on the keypad to move the cursor to the desired variable, then enter the new value on the keypad.
To change variable types (such as Joint to Linear, position to position register, or Fine to CNT) move the cursor to the desired variable and hit the softkey (onscreen) "CHOICE". Choices valid for your configuration will be available on a menu that appears on screen.
Softkeys
At the bottom of the screen, there are 4 options (you scroll with the "Next" button to get to the others)
POINT
Pressing this key brings up a menu of default motion instructions. The last chosen motion instruction can be quickly added in quantity by holding SHIFT and pressing POINT. Adding a motion instruction to the program will automatically record the current position of the robot to the position number it contains. This means if you jog the robot to the next position before adding the motion instruction for that position, you do not need to use the TOUCHUP function.
TOUCHUP
Holding SHIFT and pressing this softkey will overwrite the currently selected motion instruction's position to the current position of the robot.
If an OFFSET is used, it will ask if you wish to subtract the current offset. It's recommended you teach your positions before adding any offset motion modifier.
If a different frame was originally used for that motion instruction (such as another student's USER frame) you will be prompted to select which frames you wish to use to record the new position. This is an error that should not come up in the lab unless you have made a mistake.
[INST]
Pressing this key brings up a menu of Non-Motion Instructions that can change variables and direct program flow. The MH142 course only covers the first 6 non-motion instructions: Registers, I/O, IF/SELECT. JMP/LBL, WAIT, and CALL.
[EDCMD]
Pressing this key brings up the EDIT COMMANDS menu allowing you to do things such as copy, cut, paste, undo, and remark.
Tips and Tricks
You can move the cursor with the arrow keys. Holding shift and pressing the up or down arrow key will scroll an entire page at a time.
At the top right, the numbers indicate which line you are on and how many total lines are within the program. Note that some instructions may not fit entirely on one line, but no matter how many rows they take up on the lcd they are still considered a single line of code.