Programs
Teach pendant programs are generally simplistic, following much of the same structure as other programming languages.
It's a good idea to break your program into sections as listed below, to help organize your code.
Setup Section
The first lines of a program should be your setup instructions. This often means zeroing registers and setting constants to be used later. It's also a good idea to set all your outputs to ideal conditions. We can do this quickly using a single register instruction.
Examples:
PR[5]=PR[5]-PR[5]
Intro Motion
It can be useful to include motion instructions that take your robot to a known position, in case of power failure or a prior program leaving off in a weird place. Use a Joint move to ensure you don't enter singularity.
J P[1:Home] 20% FINE
Inputs
While inputs can be read anywhere in your program, it can be helpful to organize them into a small section that can be run through at points where it really matters.
IF DI[101] = ON JMP LBL[4]
IF DI[102] = ON JMP LBL[5]
IF DI[103] = ON JMP LBL[6]
IF DI[104] = ON JMP LBL[7]
JMP LBL[8]
Configuration
Depending on program state, input values, counts, times, and other variables - you can set up configuration data to match. This lets you run short, efficient motion instructions with few or no special sections.
LBL [4]
PR[10,3] = 5
R[12] = R [12] + 1
LBL [5]
PR[10,3] = 7
R[12] = R [12] + 2
LBL [6]
PR[10,3] = 25
R[12] = R [12] + 1
LBL [7]
PR[10,3] = 33
R[12] = R [12] + 2
Motion
Your motion lines should be efficient and minimalist. Anything that can be done with a new tool frame, user frame, offset, and registers should be, instead of having lots of similar motion lines.
J P[1] 100% Fine OFFSET PR[10]
L P[2] 222mm/s Fine OFFSET PR[10]
L P[5] R[11] Fine OFFSET PR[10]
L P[3] 222mm/s Fine OFFSET PR[10]
C P[8] 222mm/s Fine OFFSET PR[10] ...P[6] R[11] Fine OFFSET PR[10]
Notes
The program listed above could have been done much more simply with a group input and a SELECT instruction. It was left as IF statements for simplicity.