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PROGRAMMING WITH THE TEACH PENDANT
Running a Stored Program
In order to run a program that is stored on the Teach Pendant, first the program needs to be enabled.
1. Switch the Teach Pendant to Manual mode.
2. Touch the "Pgrm" button on the bottom of the Pendant screen and scroll to the desired program
to ensure it is Enabled.
3. If it is listed as Disabled, touch "Config" at the bottom of the screen.
4. Select "Make Specified Program Active".
An error message (73F5 "Local variable initialized") will pop up. This error is not an issue; it simply halts
any currently running program.)
5. Once it is confirmed the program is initialized switch the Teach Pendant to Auto mode.
6. Touch the "Pgrm" button on the bottom of the screen and select the program to be run.
7. The program can be run via Start or Step-Start.
a. Start allows the program to be run in its entirety from start to finish.
b. Step Start allows the operator to run the program line-by-line manually.
Writing/Editing a Program Using the Teach Pendant
The Teach Pendant has the capability to create new and edit existing programs. It is recommended that
for writing a new program WINCAPS is used on a PC, this is much easier than using the Pendant's on-
screen keyboard. Below is an example program, and on the following page is a table of the syntax used.
0001 '!Title "Test1"
0002 PROGRAM TEST1
0003 MOTOR ON
0004 TAKEARM
0005
0006 'LIST OF COORDINATES
0007 j00 = (0.00, -6.53, 155.37, 0.00, -60.54, 0.00)
0008 CENTER
0009 P1 = (500, 300, 300, 0.00, 90, 0.00)
0010 'OUTSIDE
0011 P2 = (500, 300, 500, 0.00, 90, 0.00)
0012 P3 = (500, 100, 300, 0.00, 90, 0.00)
0013 P4 = (500, 300, 100, 0.00, 90, 0.00)
0014 P5 = (500, 500, 300, 0.00, 90, 0.00)
0015 'MOVE COMMANDS
0016 move p, @E j00, S=100
0017 'DELAY 2000
0018 move p, @E P1, S=100
0019 move p, @E P2, S=100
0020 move c, P5, @P p4, S=50
0021 move c, P3, @E p2, S=50
0022
0023 GIVEARM
0024 END
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