User Guide

6.2 Recording a Program using the 3D Interface
Using the 3D screen a program can be recorded using the joypad or the buttons.
Joypad: Every time the A button (or button 2) on the joypad is pressed a linear
command to the current robot position is recorded. If necessary a command to open
or close the gripper is added, together with a short break. A sound indicates that the
point was recorded.
Program Buttons: If there are still commands in the memory, they can be deleted
using the Delete button. Afterwards linear, joint, gripper / DOut and break
commands can be recorded.
Pic. 12: Buttons for program generation
6.3 Saving and Loading of a Program
With the button „Save Program” the commands are saved in an XML file in the
directory
c:\CPRog\Data\Programs\
or in any other user defined folder. The button to load a program is found in the
Motion/Programs area.
6.4 Replay of a Program
The buttons in the area Motion/Programs allow to replay, pause and stop a program.
The replay can be done in single, repeat or step mode.
Hitting the space bar also starts and stops a robot program.