User Guide

6.6 Editing a Program with TextEdit
Using the button beneath GraphEdit opens the TextEdit Program editor. This editor
is more usable for bigger programs and provides more information.
Pic. 14: TextEdit program editor
The five picture buttons allow direct interaction:
• Recording a motion command (lin or joint according to the robots current
motion type) with the current robot position
• Recording a break
• Recording a DOut-command
• Deleting the selected line
• Setting the selected line as starting point for the next program start
All fields of the commands can be edited directly to e.g. change the velocity.
Changes are accepted when clicking on another line or field. A line can be copied
with Ctrl-C (or in the Edit menu), Ctrl-V pastes the command again.
All new commands are inserted in the line above the selected line.
When choosing Sync from the File menu the current program is written and loaded
by the robot. So the robot is again in synch with the text editor.