SOFTWARE KR C... User Programming. KUKA System Software (KSS) Release 4.1. Issued: 14 Jul 2003 Version: 03. ProgAnwenderR en.

Transcription

1 SOFTWARE KR C... User Programming KUKA System Software (KSS) Release 4.1 Issued: 14 Jul 2003 Version: 03 1of 60

2 e Copyright KUKA Roboter GmbH This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function. PD Interleaf 2of 60

3 Contents 1 Program editing General Programs New Selecting Open (Edit) Print Current program Logbook Saving changes Saving programs to floppy disk (Archive) Duplicate Delete Editing a selected program Delete Find Cancel program Reset program Working with the program editor Delete Find Close editor Program commands Last command Motion Point--to--point motions (PTP) Linear motions (LIN) Circular motions (CIRC) Motion parameters Logic Wait functions Time--dependent wait function (WAIT) Signal--dependent wait function (WAIT FOR) Switching functions Simple switching function (OUT) Simple pulse function (PULSE) Path--dependent switching function (SYN OUT) Path--dependent pulse function (SYN PULSE) Coupling and decoupling the INTERBUS segment (IBUS--Seg on/off) Analog output Static Dynamic Comment Normal of 60

4 User Programming Stamp changing comment lines Delete of 60

5 1 Program editing 1 Program editing 1.1 General Before creating a robot program for the first time, you should familiarize yourself with the KUKA file manager Navigator. If you wish to create a new program, you must first create a so--called skeleton program. If, on the other hand, you wish to modify an existing program, you simply need to select it or load it in the editor. More detailed information on using the file manager may be found in the documentation [Operator Control], chapter [Navigator]. 1.2 Programs More detailed information about programs can be found in the documentation [Operator Control], chapter [Navigator], section [ File menu]. Block functions (e.g. Copy) are also available at expert level. More detailed information can be found in the Programming Handbook in the documentation [Expert Programming] New With the Navigator active, press the softkey New. If a program has been selected or there is a program in the editor, you must first toggle to the file selection window, otherwise no new program can be created. Enter the desired program name (max. 24 characters) and the corresponding comment in the input line. Program name Comment Where possible, create user programs in the directory R1\Program in order to ensure that they are automatically saved via the menu item File --> Archive --> Applications Selecting The softkey Select is available for the purposes of program execution. 5of 60

6 User Programming In this way the program can also to be tested at the same time as being created. The desired program is displayed in the program window. The assignment of the menu key, softkey and status key bars changes at the same time, in order to make functions available which are necessary for programming the robot Open (Edit) If you wish to make modifications to an existing program, you can either select the program or load it into the editor. While you are editing one program in the editor, another (selected) program can simultaneously be executed. The command Open is provided in the softkey bar for loading files into the editor. The desired program is displayed in the program window. The assignment of the menu key, softkey and status key bars changes at the same time, in order to make functions available which are necessary for programming the robot. If a program has already been selected, the option Open is no longer available in the softkey bar. Instead, use the menu command File --> Open --> File/Folder. The following options are available for processing two programs simultaneously: Select program then edit another Select the desired program, toggle back to the Navigator and load the next program into the editor via the menu File --> Open. 6of 60

7 1 Program editing (continued) A selected program cannot be edited at the same time. Load program into the editor then select another program Load the desired program into the editor, toggle to the Navigator and select the next program for editing using the softkey Select. A program in the editor cannot be selected Print If you have connected a printer to your control computer or network, you can print out program listings or the logbook. This is done using the command File --> Print. The print function is only available if a printer has been configured in the operating system. More detailed information on this can be found in the Windows online help file Current program If you wish to print a selected program, you can, if you so desire, include the Folds. It is not necessary to open the Folds first. The relevant request for confirmation is made in the message window: Do you want to print with opened Folds? The printout contains opened Folds The Folds are not printed The action is cancelled; nothing is sent to the printer 7of 60

8 User Programming Here is an example of a file without Folds: File name KRC:\R1\TEST02.SRC 1 INI 2 PTP HOME Vel= 100 % DEFAULT 3 PTP P1 Vel= 100 % PDAT1 Tool[1] Base[0] 4 WAIT FOR IN 1 Enable State= TRUE 5 PTP P2 Vel= 100 % PDAT2 Too[1] Base[0] 6 WAIT FOR IN 2 Periphery State= TRUE 7 PTP P3 Vel= 100 % PDAT3 Tool[1] Base[0] 8 PTP P4 Vel= 100 % PDAT4 Tool[1] Base[0] 9 10 PTP HOME Vel= 100 % DEFAULT Logbook This function sends the logbook file, which can be viewed via the menu Display --> Diagnosis --> Logbook --> Display, to the printer. # :36: Nr.:0: New command: SN 63: WAIT FOR IN 2 Periphery State= TRUE Source: TP_KUKA # :35: Nr.:0: New command: SN 51: WAIT FOR IN 1 Enable State= TRUE Source: TP_KUKA # :35: Nr.:0: Change IO name: Input, 2, Input-> Enable Source: ProjLangText.. Detailed information on the logbook can be found in the Operating Handbook, inthe documentation [Monitor], chapter [Diagnosis], section [Log book] Saving changes You can deselect a selected program by using the menu command Program --> Cancel program. A program in the editor can be closed using the command Program --> Close. Alternatively, you can press the softkey Close. The changes are automatically saved, after a request for confirmation where relevant. 8of 60

9 1 Program editing (continued) The softkey deselect is only available in the softkey bar if no program window is open Saving programs to floppy disk (Archive) This function allows you to save important data to floppy disk. All files are saved in compressed form as Zip files. Compressed data require much less storage space than the original data, but must be decompressed before they can be read. This is carried out automatically in this case. With Navigator, the user can see what is stored in the archives. *1 *1 Not available below the user group Expert A request for confirmation is generated which must be answered before the saving process is carried out. Completion of the operation is indicated in the message window: 9of 60

10 User Programming Information about saved files can be found in the documentation [Operator Control], chapter [Navigator], section [ File menu] Duplicate The option Duplicate creates a copy of a program. Program name Comment Delete If you want to delete a program, it must not be currently selected or being edited. You might first have to deselect the program or close the editor. The program is permanently deleted after a request for confirmation. 10 of 60

11 1 Program editing (continued) 1.3 Editing a selected program Delete Use the arrow keys to move the edit cursor to the line you want to delete. Edit cursor Press the menu key Program and select the command Delete from the menu that is opened. Read the message displayed in the message window. Press the softkey Yes if you are sure that you want to delete the selected line. Pressing this softkey removes the line from the program. Pressing the softkey No or Cancel cancels the action. 11 of 60

12 User Programming Find Here you can search through the program for a character string of your choice. Press the menu key Program and select the option Find... from the menu that is opened. Alternatively, you can use the keyboard shortcut CTRL + F. This function searches through the program for a character string entered by the user. Once the command has been selected, the search form is displayed in the program window: This function searches through the program for a character string entered by the user. The search is started by pressing the softkey Find or the Enter key and commences at the position where the edit cursor is located. If the search program finds the character string entered, the corresponding line is selected. The character string entered remains displayed in the search form as a suggestion. You can now search further through the program by pressing the softkey Find or the Enter key, or search for a new string. 12 of 60

13 1 Program editing (continued) If the term being searched for is not found, a corresponding text is displayed in the message window: Only the visible area of the program is searched. The expert must switch the option Detail view on if hidden Folds are also to be included in the search. Alternatively, you can terminate the search function by pressing the softkey Cancel or the Escape key. The edit cursor is then located in the line in which the last character string was found. If the search function is called again, the last string to be entered is shown in the form as a suggestion Cancel program This command saves the changes made to the program and closes the program window. Press the menu key Program and select the option Cancel program from the menu that is opened. 13 of 60

14 User Programming Reset program With the menu function Program --> Reset program, a program that has been stopped or interrupted can be returned to the initial state it had when selected. The yellow block pointer then jumps to the first line of the indicated program. The selected program can subsequently be restarted. 14 of 60

15 1 Program editing (continued) 1.4 Working with the program editor Delete Use the arrow keys to move the edit cursor to the line you want to delete. Edit cursor Press the menu key Program and select the option Delete from the menu that is opened. Read the message displayed in the message window. Press the softkey Yes if you are sure that you want to delete the selected line. Pressing this softkey removes the line from the program. Pressing the softkey No or Cancel cancels the action Find Here you can search through the program for a character string of your choice. Press the menu key Program and select the option Find... from the menu that is opened. Alternatively, you can use the keyboard shortcut CTRL + F. This function searches through the program for a character string entered by the user. Once the command has been selected, the search form is displayed in the program window: 15 of 60

16 User Programming This function searches through the program for a character string entered by the user. The search is started by pressing the softkey Find or the Enter key and commences at the position where the edit cursor is located. If the search program finds the character string entered, the corresponding line is selected. The character string entered remains displayed in the search form as a suggestion. You can now search further through the program by pressing the softkey Find or the Enter key, or search for a new string. If the term being searched for is not found, a corresponding text is displayed in the message window: Only the visible area of the program is searched. The expert must switch the option Detail view on if hidden Folds are also to be included in the search. Alternatively, you can terminate the search function by pressing the softkey Cancel or the Escape key. The edit cursor is then located in the line in which the last character string was found. If the search function is called again, the last string to be entered is shown in the form as a suggestion. 16 of 60

17 1 Program editing (continued) Close editor This command saves on the hard drive the changes made in the editor and loads them into the real--time system. The program window is then closed. Press the menu key Program and select the option Close from the menu that is opened. The menu command Close is also available in the softkey bar if the editor is displayed in the program window. 17 of 60

18 User Programming 18 of 60

19 2 Program commands 2 Program commands This chapter is intended to provide an overview of the fundamentals of the PLC instructions available, as well as their functions and the procedure for programming. Within a program, you can add so--called PLC instructions, for example, to a motion command. These instructions are then executed depending on the PLC trigger. Further information about the trigger can be found in the Programming Handbook. The meaning of the symbols, icons and particular font conventions is explained in the chapter [About this documentation]. This chapter describes the functions provided in the KCP menu Commands. Overview Last command Motion Moveparams Logic Analog output Comment KRL assistant Instruction for entering the last command executed Enables the programming of PTP, LIN and CIRC motions Programming of torque monitoring Programming of logic commands and wait times, path--dependent switching and pulse functions, setting or polling inputs and outputs Setting of analog outputs under program control Used to insert comments in programs Syntax--supported KRL programming of special functions The Commands menu is only available if a program has been selected or loaded in the editor. 19 of 60

20 User Programming 2.1 Last command This instruction allows you to enter the last command executed, with suggested values already entered in the input boxes. Use the menu key Commands to open the menu and there select the menu item Last command. If the GRIPPER Tech option has been selected from the Configure -- Status keys menu, the softkey Last Cmd, which has the same function, is available in the softkey bar. This softkey is not available if Configure -- Status keys -- ARC Tech 10 or ARC Tech 20 has been selected. 20 of 60

21 2 Program commands (continued) 2.2 Motion To move a robot tool to a point under program control, a corresponding motion instruction must be programmed. This instruction contains the type of motion and the velocity, the definition of the end point -- for circular paths also a midpoint -- and other settings depending on the type of motion. All the motion instructions, their significance and their intended application are described in the following sections. Types of motion The following types of motion are available for programming movements: Standard motions PTP (point--to--point) LIN (linear) CIRC (circular) The tool is moved as quickly as possible along a curved path in space to a end point The tool is guided at a defined velocity along a straight line Motion of the tool at a defined velocity along a circular path In sequences of motion instructions, there are two alternatives for selecting how movements between individual points are executed: Motion between the individual points Exact positioning Approximate positioning (Cont) The motion stops exactly at the programmed point. A smooth transition can be made from one motion to the next without exact positioning at the end point. Please note: If one or more of the robot axes hits its end stop without being braked and at more than 20 cm/s (manual velocity set by the manufacturer), the buffer concerned must be replaced immediately. If this happens to axis 1 of a wall--mounted robot, its rotating column must be replaced. Programming To program a motion command, you must select a program or load it in the editor. More detailed information on creating and altering programs can be found in the chapter [Program editing]. Please note the position of the edit cursor. The next line you add to the program will be inserted as a new line after the cursor. 21 of 60

22 User Programming Open the menu using the menu key Commands. From this menu select Motion. The following submenu is displayed: You can now make your selection from the motion instructions (PTP, LIN or CIRC) offered. Infinitely rotating axes All the robot axes (A1... A6) are defined by the manufacturer as finitely rotating axes (i.e. with software limit switches). For certain applications, however, axes A4 and A6 can be configured as infinitely rotating axes. The corresponding settings are made in the file $MACHINE.DAT. A4 and A6 also definable as infinitely rotating axes [$MACHINE.DAT] All other axes are finitely rotating axes. If the machine data have been altered to define the axes A4 and/or A6 as infinitely rotating axes, please bear in mind that each rotation is executed along the shortest path. This can cause problems if a tool with supply lines (forexample, a welding gun) is installed on the robot. 22 of 60

23 2 Program commands (continued) In the following example, two motion instructions (P1 -- P2 and P2 -- P3) are programmed and the coordinates saved. Please refer to the following sketch. The first motion instruction in this example causes axis A6 to turn 120_ from P1 (0_)toP2.Thesecond motion command rotates A6 a further 100_ from P2 (120_) to P3 (220_). Tool Robot flange P 1 (0_) P 3 (220_) P 2 (120_) P 1 (0_) With the third motion command is intended to move the tool 200_ in the opposite direction from P2 to P3, i.e. to the position 20_ from the starting position P1. When the program is executed, however, axis A6 will turn along the shorter path from P3 (220_) top4 (380_), covering just 160_. P 3 (220_) P 3 (120_) P 1 (0_) P 3 (220_) actual: 160_ (desired: 200_) P 4 (380_) This will inevitably result in any supply lines from the robot to the tool being wound round the wrist. It is therefore necessary for the second (return) motion to be split up into two motion instructions. In this example, two motions (P3--P4 and P4--P5) have been programmed, each with an angle of rotation of 100_. This ensures that the tool moves to the end point in the correct direction when the progam is executed. P 3 (220_) 100_ P 4 (120_) 100_ P 5 (20_) 23 of 60

24 User Programming Point--to--point motions (PTP) Here, the robot system is positioned using the quickest route between two points. Since the motion starts and ends in all of the axes at the same time, the axes have to be synchronized. The path taken by the robot cannot, therefore, be predicted exactly. When this instruction is used, motion is executed on a path defined by the robot. In order to take into account dynamic effects and avoid collisions, the path should initially be executed at reduced program override (POV). Point names may not begin with POINT as this is a keyword. PTP motions with exact positioning In the case of PTP motions with exact positioning, the robot stops exactly at each end point. Possible PTP path P 2 Possible PTP path Exact positioning P 1 P 3 Exact positioning PTP motions with approximate positioning During approximate positioning, the controller monitors a so--called approximate positioning range around the end point. This, in our example, is the point P 2. When the TCP enters this area, the robot motion immediately proceeds towards the end point of the next motion command. Approximate positioning range P 2 P 3 P 1 24 of 60

25 2 Program commands (continued) Programming a PTP motion After the option PTP is selected from the menu Motion, the inline form for entering the values required for executing this instruction is opened in the program window. Box name Function Range of values PTP Type of motion PTP, LIN, CIRC P1 Point name Max. 23 characters Tool Tool number Nullframe, Tool_Data[1]...[16] Base Workpiece number Nullframe, Base_Data[1]...[16], EX_AX_DATA[1]...[6] external TCP Robot guides tool/workpiece True, False CONT Approximate positioning ON, Cont Vel=100% Velocity 1 to 100% of the maximum value (default: 100%) PDAT1 Motion parameters Acceleration Acceleration Approximation Distance *1 Approximate positioning range *1 Only available if CONT has been switched on The assignment of the softkey bar changes at the same time, as follows: It is possible to abort programming of the PTP motion at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the program window is in focus, the various input windows can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The program window can be activated by repeatedly pressing the Window selection key until the entire window is highlighted in color. Move the cursor to the left--hand input box. The status key (at the bottom right of the display) changes its assignment. Using this status key, you can choose between the different types of motion again. The type of motion can also be set using the softkey LIN/CIRC. Move the cursor to the next input box on the right, here P1. A parameter list is opened for entering data relating to the workpiece and tool. Activate this parameter list using the Window selection key. 25 of 60

26 User Programming Tool Select here from the 16 available tools. Base Select here one of the 16 saved workpiece coordinate systems (BASE). external TCP Tell the controller here whether the robot is guiding the tool or the workpiece: Robot guiding tool: external TCP = False Robot guiding workpiece: external TCP = True Now activate the program window again using the Window selection key. If the softkey Suggest is pressed, the program finds the lowest standard point name available in the local data list and enters this name in the open inline form, i.e. if points P1 and P3 are occupied, P2 will be suggested. Then move the robot to the end point you wish to program. There press the softkey Touch Up. Read the messages displayed in the message window. The softkey Touch Up allows you, at any moment, to save the current robot coordinates for the program line in which the edit cursor is positioned. You thus have the possibility, for example, to program a sequence of motion instructions and then define the exact end point coordinates later. The coordinates of the programmed point are saved in the data list. Move the cursor to the next input box on the right. The status key (at the bottom right of the display) changes its assignment. The approximate positioning function can be switched on or off using this status key. Inline form Exact positioning. Press the status key on the bottom right--hand side. The menu is opened in the inline form. Using the status key, choose between Exact positioning and Approximate positioning (CONT). Press the Enter key and the menu is closed. Move the cursor to the box Vel=. Here you can specify what percentage of the maximum possible velocity the robot should use later when executing the motion. You can either enter the value using the keyboard or alter it using the status key to the right of the display. Move the cursor to the next input box on the right, here PDAT2. 26 of 60

27 2 Program commands (continued) A parameter list is opened, in which data must be entered characterizing the motion in greater detail. Activate this status window using the Window selection key. You can either enter the values in the input boxes using the keyboard or alter them using the status key to the right of the display. Acceleration Here you can reduce the acceleration to be used in the motion. Depending on the length of the path, the degree of acceleration and the approximation distance, it is possible that the programmed velocity will not be reached. This is liable to happen when the wrist axes would have to turn at an infinitely high speed when passing through the extended position and would thus exceed the maximum permissible values. Therefore please be sure to use practically feasible values. Approximation Distance Here you can reduce the approximate positioning range to be used in the motion. Now press the softkey Cmd Ok or the Enter key. The motion function is now fully programmed and saved. If the position of the end point has not yet been taught (Touch Up), the current position of the robot is automatically saved. You can use the softkey Comment at any time to insert a comment line into your program, irrespective of the input box that is currently in focus. Detailed information on comments in robot programs can be found in the section [Comment]. You can use the softkey Logic at any time to insert a so--called logic command into your program, irrespective of the input box that is currently in focus. Detailed information on logic commands can be found in the section [Logic]. 27 of 60

28 User Programming Linear motions (LIN) With a linear motion, the robot axes are coordinated in such a way that the TCP or workpiece reference point is moved along a straight line to the end point. Linear motions are used if the robot has to follow an exact path to a point at a defined velocity. Only the reference point follows the programmed path. The actual tool or workpiece is able to change its orientation during the motion. Point names may not begin with POINT as this is a keyword. LIN motions with exact positioning In the case of LIN motions with exact positioning, the robot stops exactly at each end point. Exact positioning P 2 P 1 P 3 Exact positioning LIN motions with approximate positioning During approximate positioning, the controller monitors a so--called approximate positioning range around the end point. This, in our example, is the point P 2. When the TCP enters this area, the robot motion immediately proceeds towards the end point of the next motion command. Approximate positioning range P 2 P 3 P 1 28 of 60

29 2 Program commands (continued) Programming a LIN motion After the option LIN is selected from the menu Motion, the inline form for entering the values required for executing this instruction is opened in the program window. Box name Function Range of values LIN Type of motion PTP, LIN, CIRC P1 Point name Max. 23 characters Tool Tool number Nullframe, Tool_Data[1]...[16] Base Workpiece number Nullframe, Base_Data[1]...[16] external TCP Robot guides tool/workpiece True, False CONT Approximate positioning ON, Cont Vel=2m/s Velocity m/s (Default 2 m/s) CPDAT1 Motion parameters Acceleration Acceleration Approximation Distance *1 Approximate positioning range *1 Only available if CONT has been switched on The assignment of the softkey bar changes at the same time, as follows: It is possible to abort programming of the LIN motion at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the program window is in focus, the various input windows can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The program window can be activated by repeatedly pressing the Window selection key until the entire window is highlighted in color. Move the cursor to the left--hand input box. The status key (at the bottom right of the display) changes its assignment. Using this status key, you can choose between the different types of motion again. The type of motion can also be set using the softkey CIRC/PTP. Move the cursor to the next input box on the right, here P1. If the softkey Suggest is pressed, the program finds the lowest standard point name available in the local data list and enters this name in the open inline form, i.e. if points P1 and P3 are occupied, P2 will be suggested. A status window is opened for entering data relating to the workpiece and tool. Activate this status window using the Window selection key. 29 of 60

30 User Programming Tool Select here from the 16 available tools. Base Select here one of the 16 saved workpiece coordinate systems (BASE). external TCP Tell the controller here whether the robot is guiding the tool or the workpiece: Robot guiding tool: external TCP = False Robot guiding workpiece: external TCP = True Now activate the program window again using the Window selection key. Then move the robot to the end point you wish to program. There press the softkey Touch Up. Read the messages displayed in the message window. The softkey Touch Up allows you, at any moment, to save the current robot coordinates for the program line in which the edit cursor is positioned. You thus have the possibility, for example, to program a sequence of motion instructions and then define the exact end point coordinates later. The coordinates of the programmed point are saved in the data list. Move the cursor to the next input box on the right. The status key (at the bottom right of the display) changes its assignment. The approximate positioning function can be switched on or off using this status key. Inline form Exact positioning. Press the status key on the bottom right--hand side. The menu is opened in the inline form. Using the status key, choose between Exact positioning and Approximate positioning (CONT). Press the Enter key and the menu is closed. Move the cursor to the box Vel=. Here you can specify the velocity at which the robot should execute the motion. You can either enter the value using the keyboard or alter it using the status key to the right of the display. Depending on the length of the path, the degree of acceleration and the approximation distance, it is possible that the programmed velocity will not be reached. Move the cursor to the next input box on the right, here CPDAT1. A parameter list is opened, in which data must be entered characterizing the motion in greater detail. Activate this parameter list using the Window selection key. You can either enter the values in the input boxes using the keyboard or alter them using the status key to the right of the display. 30 of 60

31 2 Program commands (continued) Acceleration Here you can reduce the acceleration to be used in the motion. Depending on the length of the path, the degree of acceleration and the approximation distance, it is possible that the programmed velocity will not be reached. This is liable to happen when the wrist axes would have to turn at an infinitely high speed when passing through the extended position and would thus exceed the maximum permissible values. Therefore please be sure to use practically feasible values. Approximation Distance Here you can reduce the approximate positioning range to be used in the motion. Now press the softkey Cmd Ok or the Enter key. The motion function is now fully programmed and saved. If the position of the end point has not yet been taught (Touch Up), the current position of the robot is automatically saved. You can use the softkey Comment at any time to insert a comment line into your program, irrespective of the input box that is currently in focus. Detailed information on comments in robot programs can be found in the section [Comment]. You can use the softkey Logic at any time to insert a so--called logic command into your program, irrespective of the input box that is currently in focus. Detailed information on logic commands can be found in the section [Logic]. 31 of 60

32 User Programming Circular motions (CIRC) Here, the TCP or workpiece reference point moves to the target point along an arc. The path is defined using start, auxiliary and end points. The end point of a motion instruction executed with exact positioning serves as the start point for the subsequent motion. The orientation changes uniformly over the whole length of the path. CIRC motions are used when processing operations are to be executed at a preset velocity along a circular path. The start, auxiliary and end points lie in a plane in space. In order for the controller to be able to determine this plane as accurately as possible, these three points should be as far apart as possible. Only the reference point follows the programmed path. The actual tool is able to change its orientation during the motion. Point names may not begin with POINT as this is a keyword. CIRC motions with exact positioning In the case of CIRC motions with exact positioning, the robot stops exactly at each end point. Auxiliary point End point Start point End point End point Start point Auxiliary point CIRC motions with approximate positioning During approximate positioning, the controller monitors a so--called approximate positioning range around the end point. When the TCP enters this area, the robot motion immediately proceeds towards the end point of the next motion command. Approximate positioning range End point Start point End point Start point Auxiliary point Auxiliary point 32 of 60

33 2 Program commands (continued) Programming a CIRC motion After the option CIRC is selected from the menu Motion, the inline form for entering the values required for executing this instruction is opened in the program window. Box name Function Range of values CIRC Type of motion PTP, LIN, CIRC P1 Auxiliary point name Max. 23 characters P2 Point name Max. 23 characters Tool Tool number Nullframe, Tool_Data[1]...[16] Base Workpiece number Nullframe, Base_Data[1]...[16] external TCP Robot guides tool/workpiece True, False CONT Approximate positioning ON, Cont Vel=2m/s Velocity m/s (Default 2 m/s) PDAT1 Motion parameters Acceleration Acceleration Approximation Distance *1 Approximate positioning range *1 Only available if CONT has been switched on The assignment of the softkey bar changes at the same time, as follows: Teach Aux Teach End It is possible to abort programming of the LIN motion at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the program window is in focus, the various input windows can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The program window can be activated by repeatedly pressing the Window selection key until the entire window is highlighted in color. Move the cursor to the left--hand input box. The status key (at the bottom right of the display) changes its assignment. Using this status key, you can choose between the different types of motion again. The type of motion can also be set using the softkey PTP/LIN. Move the cursor to the next input box on the right, here P1. Teach Aux If the softkey Suggest is pressed, the program finds the lowest standard point name available in the local data list and enters this name in the open inline form, i.e. if points P1 and P3 are occupied, P2 will be suggested. Now move the robot to the auxiliary point. There press the softkey Teach Aux. Read the messages displayed in the message window. 33 of 60

34 User Programming The coordinates of the auxiliary point must be saved manually before conclusion of the motion command; they are not automatically saved. If you want to define the point coordinates later, Teach Aux can be carried out first in any robot position. Move the cursor to the next input box on the right, here P2. A status window is opened for entering data relating to the workpiece and tool. Activate this status window using the Window selection key. Tool Select here from the 16 available tools. Base Select here one of the 16 saved workpiece coordinate systems (BASE). external TCP Tell the controller here whether the robot is guiding the tool or the workpiece: Robot guiding tool: external TCP = False Robot guiding workpiece: external TCP = True Now activate the program window again using the Window selection key. Teach End Then move the robot to the end point you wish to program. There press the softkey Touch Up. Read the messages displayed in the message window. The softkey Touch Up allows you, at any moment, to save the current robot coordinates for the program line in which the edit cursor is positioned. You thus have the possibility, for example, to program a sequence of motion instructions and then define the exact end point coordinates later. The coordinates of the programmed point are saved in the data list. Move the cursor to the next input box on the right. The status key (at the bottom right of the display) changes its assignment. The approximate positioning function can be switched on or off using this status key. Inline form Exact positioning. Press the status key on the bottom right--hand side. The menu is opened in the inline form. Using the status key, choose between Exact positioning and Approximate positioning (CONT). Press the Enter key and the menu is closed. 34 of 60

35 2 Program commands (continued) Move the cursor to the box Vel=. Here you can specify the velocity at which the robot should execute the motion. You can either enter the value using the keyboard or alter it using the status key to the right of the display. Move the cursor to the next input box on the right, here CPDAT1. A parameter list is opened, in which data must be entered characterizing the motion in greater detail. Activate this parameter list using the Window selection key. You can either enter the values in the input boxes using the keyboard or alter them using the status key to the right of the display. Acceleration Here you can reduce the acceleration to be used in the motion. Depending on the length of the path, the degree of acceleration and the approximation distance, it is possible that the programmed velocity will not be reached. This is liable to happen when the wrist axes would have to turn at an infinitely high speed when passing through the extended position and would thus exceed the maximum permissible values. Therefore please be sure to use practically feasible values. Approximation Distance Here you can reduce the approximate positioning range to be used in the motion. Now press the softkey Cmd Ok or the Enter key. The motion function is now fully programmed and saved. If the position of the end point has not yet been taught (Touch Up), the current position of the robot is automatically saved. You can use the softkey Comment at any time to insert a comment line into your program, irrespective of the input box that is currently in focus. Detailed information on comments in robot programs can be found in the section [Comment]. 35 of 60

36 User Programming You can use the softkey Logic at any time to insert a so--called logic command into your program, irrespective of the input box that is currently in focus. Detailed information on logic commands can be found in the section [Logic]. Please note: A full circle must be made up of at least two segments to prevent the circle from tilting in the plane. 36 of 60

37 2 Program commands (continued) 2.3 Motion parameters This function allows the monitoring tunnel for collision monitoring to be changed. The sensitivity of the collision monitoring can be defined in this way. Detailed information on the subject TorqMon may be found in the Programming Handbook, in the documentation [Expert Programming], chapter [Motion programming]. 37 of 60

38 User Programming 2.4 Logic Inputs and outputs of the controller enable the robot system to communicate with its peripheral environment. Specific commands are provided for polling inputs and setting outputs. It is also possible for wait times to be programmed in order to ensure that operations are completed before the robot starts moving again. Programming To program a so--called logic command, you must select a program or load it in the editor. More detailed information on creating and altering programs can be found in the chapter [Program editing]. Pay attention to the position of the edit cursor. The next program line created by you will be inserted as a new line after the cursor. Open the menu using the menu key Commands. From this menu select Logic. The following submenu is displayed: You can now make your selection from the logic instructions offered Wait functions Time--dependent wait function (WAIT) You can use this function to program a defined wait time. After selecting the menu item WAIT, the inline form for entering the wait time is opened in the programming window. The assignment of the softkey bar changes at the same time, as follows: It is possible to abort programming of the wait function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. Pressing the softkey Motion switches immediately to motion instruction programming, cancelling programming of the time--dependent wait function. 38 of 60

39 2 Program commands (continued) Pressing the softkey W_F/IBUS switches immediately to programming of the signal-- dependent wait function, cancelling programming of the time--dependent wait function. Pressing the softkey Comment switches immediately to the programming function for comment lines, cancelling programming of the time--dependent wait function. You can alter the default wait time in increments of 0.05 seconds using this status key. You can also enter the desired value using the numeric keypad. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved Signal--dependent wait function (WAIT FOR) This function waits until the named input/output has assumed the defined state: True or False. After selecting the menu option WAITFOR, the inline form for entering the parameters that are required for executing the signal--dependent wait function is opened in the programming window. Box name Function Range of values WAIT FOR IN Type of wait function WAIT FOR IN, WAIT FOR OUT 1 Input/output Demo Long text The long text assigned to the input or output State State TRUE, FALSE CONT Approximate positioning,cont The assignment of the softkey bar changes at the same time: It is possible to abort programming of the wait function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the programming window is in focus, the various input boxes can be selected using the and arrow keys. The box that is currently selected is highlighted by a color background. The programming window can be activated by repeatedly pressing the Window selection key until the window is highlighted in color. Pressing the softkey Motion switches immediately to motion instruction programming, cancelling programming of the signal--dependent wait function. Pressing the softkey IBUS/WAIT switches immediately to the function for coupling and decoupling an INTERBUS segment under program control. Programming of the signal-- dependent wait function is thus cancelled. Pressing the softkey Comment switches immediately to the programming function for comment lines, cancelling programming of the signal--dependent wait function. 39 of 60

40 User Programming The long text belonging to the corresponding input/output can be modified by pressing the Longtext softkey. This option is not available in the user group User. Move the cursor to the left--hand input box. The assignment of the status key at the bottom right of the display changes accordingly. Here you can specify whether or not the system should wait for an input or output signal. Move the cursor to the next input box, here 1. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, specify the input or output for which the system is to wait. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display). The long text of the input or output can be modified in the next input box. To do so, the user group Expert must be active. Press the Longtext softkey and enter the desired name. Move the cursor to the input box State. The assignment of the status key at the bottom right of the display changes. Using this status key, you can specify the state at which the motion program is to be resumed. In the last input box you can activate the option CONT (Continue). This option causes the condition to be checked as soon as the advance run pointer reaches the WaitFor line. If the condition is fulfilled at this time, the advance run pointer jumps to the next line. Otherwise, it stops at this point and waits until the condition is fulfilled. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 40 of 60

41 2 Program commands (continued) Switching functions After selecting the menu item OUT, a submenu with further options is opened: This menu offers you various switching functions, which are described in detail below Simple switching function (OUT) Sets an output to True or False. After selecting the menu option OUT, the inline form for entering the parameters that are required for executing the simple switching function is opened in the programming window. Box name Function Range of values 1 Output Demo Long text Name of the input or output State State TRUE, FALSE CONT Approximate positioning,cont The assignment of the softkey bar changes at the same time: It is possible to abort programming of the switching function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the programming window is in focus, the various input boxes can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The programming window can be activated by repeatedly pressing the Window selection key until the window is highlighted in color. Pressing the softkey PULSE switches immediately to programming of the simple pulse function, cancelling programming of the simple switching function. Pressing the softkey SYNOUT switches immediately to programming of the path-- dependent switching function, canceling programming of the simple switching function. The long text belonging to the corresponding output can be modified by pressing the Longtext softkey. This option is not available below the user group Expert. Move the cursor to the input box OUT. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, specify the output that is to be set. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display). 41 of 60

42 User Programming The long text of the output can be modified in the next input box. To do so, the user group Expert must be active. Press the Longtext softkey and enter the desired name. Move the cursor to the input box State. The assignment of the status key at the bottom right of the display changes. With this status key, you can specify the state to which the selected output is to be set. Move the cursor to the input box CONT. The assignment of the status key at the bottom right of the display changes. If you set CONT, the output is set with the advance run pointer. If CONT is not selected, the output is set with the main run pointer, i.e. as soon as the advance run pointer reaches this function, it is stopped until the main run pointer has also reached this function. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 42 of 60

43 2 Program commands (continued) Simple pulse function (PULSE) This function sets a selected output to TRUE/FALSE for the duration of a defined pulse time. After selecting the menu option PULSE, the inline form for entering the parameters that are required for executing the simple switching function is opened in the programming window. Box name Function Range of values 1 Output Demo Long text Name of the input or output State State TRUE, FALSE CONT Approximate positioning,cont Time Length of the pulse s The assignment of the softkey bar changes at the same time: It is possible to abort programming of the pulse function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the programming window is in focus, the various input boxes can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The programming window can be activated by repeatedly pressing the Window selection key until the window is highlighted in color. Pressing the softkey OUT switches immediately to programming of the simple switching function, cancelling programming of the simple pulse function. Pressing the softkey SYNPULSE switches immediately to programming of the path-- dependent pulse function, cancelling programming of the simple pulse function. The long text belonging to the corresponding output can be modified by pressing the Longtext softkey. This option is not available below the user group Expert. Move the cursor to the input box PULSE. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, specify the output that is to be set. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display). The long text of the output can be modified in the next input box. To do so, the user group Expert must be active. Press the Longtext softkey and enter the desired name. Move the cursor to the input box State. The assignment of the status key at the bottom right of the display changes. With this status key, you can specify the state to which the selected output is to be set. 43 of 60

44 User Programming Move the cursor to the input box CONT. The assignment of the status key at the bottom right of the display changes. If you set CONT, the function is executed when reached by the advance run pointer. If CONT is not selected, the function is executed when the main run pointer arrives, i.e. as soon as the advance run pointer reaches this function, it is stopped until the main run pointer has also reached this function. Move the cursor to the input box Time. The assignment of the status key at the bottom right of the display changes. Using this status key, you can set the length of the pulse between 0.1 and 3 seconds in increments of 0.1 seconds. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 44 of 60

45 2 Program commands (continued) Path--dependent switching function (SYN OUT) After selecting the menu option SYN OUT, the inline form for entering the parameters that are required for executing the path--dependent switching function is opened in the programming window. Box name Function Range of values SYN OUT Output Demo Long text Name of the input or output State State TRUE, FALSE at Time at which the switching START, END, PATH function is executed Distance from the end mm point at which the output is set *1) Delay Delay of the switching action ms *1) Only available if PATH is selected as the start option The assignment of the softkey bar changes at the same time: It is possible to abort programming of the switching function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the programming window is in focus, the various input boxes can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The programming window can be activated by repeatedly pressing the Window selection key until the window is highlighted in color. Pressing the softkey SYNPULSE switches immediately to programming of the path-- dependent pulse function. Programming of the path--dependent switching function is cancelled first. Pressing the softkey OUT switches immediately to programming of the simple switching function. Programming of the path--dependent switching function is cancelled first. The long text belonging to the corresponding output can be modified by pressing the Longtext softkey. This option is not available below the user group Expert. Move the cursor to the input box SYN OUT. Using the numeric keypad, specify the output that is to be set. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display). The long text of the output can be modified in the next input box. To do so, the user group Expert must be active. Press the Longtext softkey and enter the desired name. 45 of 60

46 User Programming Move the cursor to the input box State. The assignment of the status key at the bottom right of the display changes. With this status key, you can specify the state to which the selected output is to be set. Move the cursor to the input box at. The assignment of the status key at the bottom right of the display changes. With this status key, you can specify the point of the path segment at which the selected output is to be set. Move the cursor to the input box Delay. The assignment of the status key at the bottom right of the display changes. With this status key, you can shift the time at which the selected output is to be set, by any amount in increments of 1 ms between the start and end points of the path segment. It is also possible to enter the value via the numeric keypad. If, on the other hand, you want to set the output in relation to the path, you must select the option PATH in the input box at. An additional input box then appears in the inline form in which you can specify the distance from the end point at which the output should be set. If, for example, you want the output to be set between the start point and the end point, you must enter a value with a negative sign. The current value of the variable $DIST_NEXT can be displayed and altered by means of the menu function Monitor -- Variable -- Single The motion commands (type: LIN) before and after the SYN OUT function are important for determining locally the start and end points and the points along the path. G Case 1: the start point and end point are exact positioning points Program: LIN P1 SYN OUT LIN P2 Start P P2 END PATH G Case 2: the start point is approximated, the end point is an exact positioning point 46 of 60

47 2 Program commands (continued) Program: LIN P1 LIN P2 CONT SYN OUT LIN P3 P1 Start P P3 END PATH G Case 3: the end point is approximated, the start point is an exact positioning point Program: LIN P1 SYN OUT LIN P2 CONT LIN P3 Start + P1 -- P2 END PATH + P3 G Case 4: the start point and end point are approximated Program: LIN P2 CONT SYN OUT LIN P3 CONT LIN P4 P1 Start P P3 + END PATH P4 47 of 60

48 User Programming Example: Adhesive application: An adhesive gun is to start applying adhesive at a certain point on the workpiece. For this purpose the command SYN OUT is set. When output 1= TRUE, the adhesive gun is activated. PATH=10 mm defines the point at which the adhesive application is to begin. The adhesive gun itself, however, must be activated approximately 15 ms earlier, as a certain advance time is required before the adhesive begins to flow. The delay time is thus set to --15 ms. Extract from the illustration relating to case 4 P2 Output 1 is set to TRUE at this point PATH --15 ms P3 P4 +10 mm Adhesive application Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 48 of 60

49 2 Program commands (continued) Path--dependent pulse function (SYN PULSE) After selecting the menu option SYN PULSE, the inline form for entering the parameters that are required for executing the path--dependent pulse function is opened in the programming window. Box name Function Range of values SYN Output PULSE Demo Long text Name of the input or output State State TRUE, FALSE Time Pulse duration s at Time at which the pulse START, END, PATH function is executed Distance from the end mm point at which the output is set *1) Delay Delay of the pulse function ms *1) Only available if PATH is selected as the start option The assignment of the softkey bar changes at the same time: It is possible to abort programming of the pulse function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the programming window is in focus, the various input boxes can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The programming window can be activated by repeatedly pressing the Window selection key until the window is highlighted in color. Pressing the softkey SYNOUT switches immediately to programming of the path-- dependent switching function, cancelling programming of the path--dependent pulse function. Pressing the softkey PULSE switches immediately to programming of the simple pulse function, cancelling programming of the path--dependent pulse function. The long text belonging to the corresponding output can be modified by pressing the Longtext softkey. This option is not available below the user group Expert. Move the cursor to the input box SYN PULSE. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, specify the output that is to be set. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display). The long text of the output can be modified in the next input box. To do so, the user group Expert must be active. Press the Longtext softkey and enter the desired name. 49 of 60

50 User Programming Move the cursor to the input box State. The assignment of the status key at the bottom right of the display changes. With this status key, you can switch between the states to which the selected output can be set. Move the cursor to the input box Time. The assignment of the status key at the bottom right of the display changes. You can set the length of the pulse in increments of 0.1 seconds within the range of 0.1 to 3 seconds using this status key. It is also possible to enter the value via the numeric keypad. Move the cursor to the input box at. The assignment of the status key at the bottom right of the display changes. With this status key, you can specify the point of the path segment at which the selected output is to be set. Move the cursor to the input box Delay. The assignment of the status key at the bottom right of the display changes. With this status key, you can shift the time at which the selected output is to be set, by any amount in increments of 1 ms between the start and end points of the path segment. It is also possible to enter the value via the numeric keypad. If, on the other hand, you want to set the output in relation to the path, you must select the option PATH in the input box at. An additional input box then appears in the inline form in which you can specify the distance from the end point at which the output should be set. If, for example, you want the output to be set between the start point and the end point, you must enter a value with a negative sign. The motion commands (type: LIN and CIRC) before and after the SYN PULSE function are important for determining locally the start and end points and the points along the path. Compare cases 1 to 4 for the previous function SYN OUT! Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 50 of 60

51 2 Program commands (continued) Coupling and decoupling the INTERBUS segment (IBUS--Seg on/off) After selecting the menu option IBUS--Seg. on/off, the inline form for programming the coupling and decoupling of the INTERBUS segment is opened in the programming window. Box name Function Range of values IBUS Coupling and decoupling ON, OFF an IBus segment The assignment of the softkey bar changes at the same time: It is possible to abort programming of this function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the programming window is in focus, the various input boxes can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The programming window can be activated by repeatedly pressing the Window selection key until the window is highlighted in color. Pressing the softkey Motion switches immediately to motion instruction programming, cancelling programming of the function. Pressing the softkey WAIT/W_F switches immediately to programming of motion instructions, cancelling programming of the function. Pressing the softkey Comment switches immediately to the programming function for comment lines, cancelling programming of the function. By pressing the status key CMD, you can switch between coupling and decoupling of the INTERBUS. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 51 of 60

52 User Programming 2.5 Analog output The eight analog outputs of the robot controller are set under program control using this function. Programming To program the analog output, you must select a program or load it in the editor. More detailed information on creating and altering programs can be found in the chapter [Program creation]. Pay attention to the position of the edit cursor. The next program line created by you will be inserted as a new line after the cursor. 52 of 60

53 2 Program commands (continued) Static This option is used to set an analog output with a fixed value. After selecting the menu option, the inline form for entering the necessary values is opened in the program window. Box name Function Range of values ANOUT Analog output Output voltage The assignment of the softkey bar changes at the same time: It is possible to abort programming of the function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the program window is in focus, the various input windows can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The program window can be activated by repeatedly pressing the Window selection key until the entire window is highlighted in color. Move the cursor to the left--hand input box. The assignment of the status key at the bottom right of the display changes. Here you can specify which of the eight analog outputs you want to set. Move the cursor to the next input box, here 0. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, enter the value the analog output should take. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display) in increments of 10 mv. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 53 of 60

54 User Programming Dynamic This option is used to set an analog output depending on the velocity or technology. After selecting the menu option, the inline form for entering the necessary values is opened in the program window. Box name Function Range of values ANOUT Switching simulation mode ON, OFF on and off CHANNEL 1 Analog output Multiplier VEL ACT Velocity or technology parameters VEL ACT, TECHVAL1... TECHVAL6 Offset Offset voltage Delay Delay s The assignment of the softkey bar changes at the same time: It is possible to abort programming of the function at any time by pressing the softkey Cmd Abort or the ESC key. The command will not be saved in this case. If the program window is in focus, the various input windows can be selected using the and arrow keys. The window that is currently selected is highlighted by a color background. The program window can be activated by repeatedly pressing the Window selection key until the entire window is highlighted in color. Move the cursor to the left--hand input box. The assignment of the status key at the bottom right of the display changes. Here you can specify whether you wish to switch the analog output on or off. Move the cursor to the next input box, here Channel 1. The assignment of the status key at the bottom right of the display changes. Here you can specify which of the eight analog outputs you want to set or reset. Move the cursor to the next input box, here 1. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, enter the factor by which the 54 of 60

55 2 Program commands (continued) corresponding velocity/technology parameters are to be multiplied. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display) in increments of Move the cursor to the next input box, here VEL_ACT. The assignment of the status key at the bottom right of the display changes. Here you can specify the velocity/technology parameters with which the selected analog output is to be combined. Move the cursor to the next input box, here Offset. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, enter the value of the offset voltage for the selected analog output. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display) in increments of 100 mv. Move the cursor to the next input box, here Delay. The assignment of the status key at the bottom right of the display changes. Using the numeric keypad, enter a delay value. It is also possible to change the value shown in the input box using the status key (at the bottom right of the display) in increments of 1/100 second. Now press the softkey Cmd Ok or the Enter key. The command is now fully programmed and saved. 55 of 60

56 User Programming 2.6 Comment For the purpose of giving your programs a clearer structure, comment lines should be inserted containing texts explaining the program modules. Place the edit cursor one line above the position where you want to insert the comment line. Open the menu by means of the menu key Commands and from it select the submenu Comment. You can now select one of the comment types Normal or Stamp Normal Using the command Normal, you can insert a comment line containing any text into your program. A semicolon ( ; ) will automatically be inserted at the beginning of the comment line. Any text Press the softkey Cmd Abort to discard your entries and close the inline form without inserting a comment line into the program listing. You can switch to the inline form for the stamp directly by using the softkey Stamp. If you would like to enter a different text, you can delete the entry by means of the softkey New text. Press the softkey Cmd Ok to discard your entries and close the inline form without entering them into the program listing. Any text When the Comment command is selected again, the previously entered string will already be offered as a default text in the inline form. 56 of 60

57 2 Program commands (continued) Stamp You can also insert a stamp in your program, however. In this instance, it is a comment line with the time and date added. A semicolon ( ; ) will automatically be inserted at the beginning ofthelineinthiscaseaswell. Any text Use this type of comment to document changes to programs. You can enter your name in the first input box after NAME. Enter an abbreviation for the change that has been made in the second box after CHANGES. Press the softkey Cmd Abort to discard your entries and close the inline form without inserting a comment line into the program listing. You can switch to the inline form for a normal comment directly by using the softkey Normal. The new system time and the system date are entered into the inline form by pressing the softkey New time. If you would like to enter a different name, the previous entry can be deleted by pressing the softkey New name. If you want to enter something else after CHANGES, press the softkey New text. This deletes the previous entry and a new text can now be entered. Use the softkey Cmd Ok to save your entry, close the inline form and insert the comment line. Any text When the Comment command is selected again, the previously entered string will already be offered as a default text in the inline form. 57 of 60

58 User Programming changing comment lines Move the program cursor to the line that is to be altered and press the softkey Change. This opens an inline form. The existing text is displayed as a suggestion in the input box. Depending on the type of comment, Normal or Stamp, the softkey bar has one of these two assignments: Now alter the text as desired. Press the softkey Cmd Abort to discard your entries and close the inline form without carrying out the change to the program. You can switch to the inline form for the stamp directly by using the softkey Stamp. You can switch to the inline form for a normal comment directly by using the softkey Normal. The new system time and the system date are entered into the inline form by pressing the softkey New time. If you would like to enter a different name, the previous entry can be deleted by pressing the softkey New name. If you would like to enter a different text, you can delete the entry by means of the softkey New text. Use the softkey Cmd Ok to terminate your entry, close the inline form and alter the comment line accordingly Delete Use the or arrow key to move the edit cursor to the line you want to delete. Press the menu key Program and select the option Delete from the menu that is opened. Read the message displayed in the message window. 58 of 60