TEACHBOX p +P Elektronik GmbH Furth I West Germany
Contents
1. The robot can be fitted with either an electrical or a pneumatic gripper making it possible to perform an extremely wide range of different handling tasks The integrated control system automatically identifies the gripper type and controls it accordingly Installing the electrical gripper is a simple mechanical operation Proceed as follows e Snap the electrical gripper onto the gripper mounting flange in the position you wish to define as the center position e Insert the gripper plug into the matching socket and screw it into place Arrange the spiral cable so that it will not obstruct the gripper e The ROB 3i is then ready for operation with the electrical gripper To install the pneumatic gripper proceed as follows e Snap the pneumatic gripper onto the gripper mounting flange in the position you wish to define as the center position e Coil the black and blue hoses loosely around the gripper s rotary axis then connect them to the gripper Connect the blue hose to the connection which is closest to the gripper fingers e Insert the plug attached to the red and black cable into the matching socket and screw it into place e Mount the pressure reducing valve on the base of the robot using two screws Connect the blue compressed air hose from the base of the robot to the pressure reducing valve e Snap the FESTO PU3 compressed air hose onto the FESTO CN M5 PK3 connector nipple max operating pressure 6 bar 6000 hPa Th2. TEACHBOX User s manual for ROB 3i P P Elektronik GmbH Furth West Germany TABLE OF CONTENTS 1 Introduction 2 Technical Specifications 3 Dimensions and Axis Numbers 4 The ROB3i Teachbox 5 Operating Modes 6 Summary of all Instructions and Commands 7 Reference to the Individual Instructions 8 Hardware Installation 9 Digital Inputs and Outputs EMERGENCY OFF Function 10 Exercises with the Teachbox 11 Limited Warranty Terms and Conditions 12 Foreign Distributors page Oo GD AJ AN Un 10 11 15 16 17 23 24 1 Introduction The ROB3i s articulated arm has five axes and a gripper all of which are powered by DC servo motors The absolute position of all axes is determined by potentiometric rotary position transducers The ROB3i s control system thus always knows the current position of all axes even after a power failure The robot can be fitted with either an electrical or a pneumatic gripper making it possible to perform an extremely wide range of different handling tasks The integrated control system automatically identifies the gripper type and controls it accordingly The robot s integrated control system can be programmed directly via a special keypad unit the Teachbox using a simple easy to learn instruction set The robot is programmed by entering a sequence of instructions to move the arm to the desired positions these instructions are then stored in memory as a control pro
3. obstructed by an immovable object Resolution steps per axis SB Repeatability gt 6 0 5 mm Speeds ae Maximum payload 500g Maximum traversing speed 750mm per sec Maximum continuous path speed 90mm per sec Drive DCservo motors Feedback Absolute value transducers Weight 7 13 ke Ambient temperature 10 40 degrees C 50 104 F Interface RS 232 External power supply 24V DC at 8A 9V DC at 3A 8 digital outputs 8 digital inputs Programming options With IBM compatible personal computers PC XT AT and the TBPS software package as a stand alone unit together with the Teachbox or with your own programs written with the help of the Include files controlling the robot from the computer via the RS 232 interface 3 Dimensions and Axis Numbers A3 200 A4 200 u De 200 A2 4 The ROB3i Teachbox The ROB3i Teachbox makes it possible to operate and program the ROB3i without using a computer It consists of a compact keypad unit with 25 keys divided into three groups Numeric keys for entering single or multiple digit decimal values command keys for entering directly executable commands and instruction keys for entering control program instructions To program the robot you simply connect the Teachbox to the ROB3i s I O port the unit can then be easily disconnected once the program has been started The female connector on the Teachbox provides all the inputs and outputs nece
4. see Appending Instructions below 12 e DISPLAY Mode STOP m ENT STOP ENT These commands switch the system to DISPLAY mode allowing you to display the program instructions stored in memory one after another via the LEDs by pressing the and keys to step forwards and backwards through the program The MARK POS TIM OUT IF and NOP instructions are displayed directly with the LEDs of the corresponding keys the DEL instruction is displayed with the MARK and NOP LEDs together The ERR LED lights up in the event of errors and at the end of the program program end instruction Pressing the CLR key exits the DISPLAY mode e Insert Instruction INS ENT The DISPLAY mode makes it simple to move to the position where you want to insert one or more additional instructions To insert instructions proceed as follows First switch to DISPLAY mode and locate the instruction BEFORE which you want to insert the new instruction s Press CLR to exit the DISPLAY mode and then press INS ENT once for each instruction you wish to insert This inserts NOPs which you can later overwrite with the appropriate instructions e Delete Instruction DEL ENT In the same way as for inserting instructions first switch to DISPLAY mode and locate the position at you wish to begin deleting then press CLR to exit DISPLAY Now press DEL ENT once for each instruction to be deleted Each time you press DEL ENT the current instruction is cleared from memory
5. and all the following instructions are moved up by one line allowing you to go on deleting towards the end of the program e Appending Instructions Existing programs can be lengthened very easily by overwriting the program end instruction First switch to DISPLAY mode and locate the end of the program The ERR LED will light up Now press CLR to switch to INPUT mode and simply enter the additional instructions normally Don t forget to enter the INS ENT sequence again when you are finished e Overwriting Instructions This function is used to overwrite previously entered NOPs existing instructions or NOPs entered directly with the INS ENT sequence Switch to DISPLAY mode and locate the instruction you wish to overwrite then press the CLR key and enter the new instructions directly 13 e Program Run Break You can choose between running the program normally or in single step mode RUN m ENT Start normal program execution at label m STIOPTLR 2 es Break program execution at any point REIS ERT 5 lt Resume program execution at point where it was interrupted The instruction sequence RUN m ENT selects single step mode allowing you to test the program by running it one instruction at a time You can then step through the program with the key Each time you press the next instruction in the memory is executed moving the robot axes and lighting up the corresponding LED on the Teachbox 14 8 Hardware Installation
6. in memory as it will completely erase all the instructions and programs already stored in the memory MARK 0 ENT Set label 0 marks beginning of the program DIE rennen Switch to input mode This is followed by the body of the program consisting of positioning sequences loops and input and output instructions e Axis Positioning Axis a Using this command you can move axis a up right or left down with the keys until it is in the desired position Since the control program can position several axes at the same time you can position any number of axes using this technique until the robot arm is in the desired position CER Sew Psa mh Switch to INPUT mode POSENI 4 2 44 Store arm position in memory or POS axis a position n ENT Moves axis a directly to position n Again you can position any number of axes in this way until the arm is in the desired position CLR er Switch to INPUT mode FOSEND orre sr Store arm position in memory e Loops MARK mENT Set label m as loop starting point Create the body of the loop by teaching in the arm positioning sequences see above GOTOmENT Loop to the starting point label for endless loops This option is useful 11 for writing endlessly repeating programs You can terminate these programs with the STOP function GOTO m n ENT Loop to starting point label n times thus repeating the instructions in the body of the loop n times For i 1 to n Joop repeti
7. press the STOP key on the Teachbox immediately and hold it down until you have pressed the RESET key on the ROB3i This initializes the last arm position as the current position The ROB3i will then stop in this position and you can change the position by entering further teach instructions Please note that a reset clears all program instructions entered beforehand from the robot s memory and they must then be reentered from the start 12 If the red ERR lamp on the Teachbox tights up while you are entering instructions first clear the error condition by pressing the CLR key then reenter the last instruction sequence All the following exercises are entered with label 0 as the starting address and can be started by entering RUN 0 ENT If you wish however you can also enter other starting addresses so long as they are within the permitted value range 0 lt starting address lt 118 e Program Header and Program End STOP 0 ENT This sequence generates the program header clearing the contents of the ROB3i s memory and initializing it for programming It should only be entered once at the beginning of a new programming session DON T use this command when you want to edit programs already in memory or add new programs to the those in memory as it will completely erase all the instructions and programs already stored in the robot s memory MARK 0 ENT Set label 0 as the starting address marking the beginning of your pro
8. programs software interfaces are available in the form of Include files in the languages BASIC Pascal and C These Include files contain subroutines for handling serial interface communication with the robot When IBM and Microsoft trademarks are mentioned in the text this is understood to refer exclusively to the products of these companies ROB is a registered trademark of P P Elektronik GmbH Nuremberg West Germany 2 Technical Specifications Travel within the working range of each of the ROB3i s six axes is divided into 512 individual steps Axis Relative End Position Angular Range 1 Base rotation right POSO left POS 511 200 degrees 2 Shoulder up POSO down POS 11 200 degrees 3 Elbow up POSO down POS 511 200 degrees 4 Wrist up POSO down POS 511 200 degrees 5 Wrist roll tight POSO left POS Sil 400 degrees only for electric gripper 6 Gripper open POSO _ closed POS 100 60 mm only for pneumatic gripper 6 Gripper open POSO closed POS 1 All axes can 5a moved simultaneously The resolution of the axes makes it possible to access a total of 512 points within the robot s reach Gripper opening and closing also has a resolution of 100 steps In contrast to other robots which always have a fixed home position the ROB3i allows you to redefine the start position at the beginning of each program This makes it possible to use the robot in the most difficult situations imaginable for example when the home position is
9. 1 2 second before gripping or releasing something with the gripper This gives the gripper time to come to rest ensuring that the object will be gripped and released smoothly and cleanly We strongly advise that you first test your programs in single step mode after teaching them in Start the program with RUN 0 ENT you can then step through the program one instruction at a time with the key All the instructions MARK POS TIM etc will be displayed on the LEDs of the Teachbox as they are executed starting with the first MARK instruction and ending with the program end instruction the latter is indicated by the ERR LED At the same time the robot will execute the progrdmmed movements 11 Limited Warranty Terms and Conditions Warranted against defects in materials and workmanship for a period of 6 six months as of the date of purchase delivery free works Wearing parts such as motors and potentiometers are excluded from this Warranty coverage The use of physical force incorrect connection and any and all alterations or repair attempts on the part of the Customer will render this Warranty null and void We reserve the right to make technical alterations without notice Shipping address for service and repair P P Elektronik GmbH Nordring 23 8510 F rth 2 West Germany Tel 0911 3000 611 FAX 0911 3000 622 23 12 Foreign Distributors Fa Patech Peter Schibli Heidenhubelstr 13 CH 4503 Solothurn Tel 065 2
10. 3 38 24 Fax 065 22 15 23 Bie amp Berntsen Ltd Torben Ingemann Andersen Sandbaekvej 7 DK 2610 Rodovre Tel 02 94 88 22 Fax 02 94 27 09 Soria M Mortes 39 bis Rue du G n ral Leclerc F 92270 Bois Colombes Tel 1 47 81 69 10 Fax 1 45 63 81 02 Micro Nord Dr Ing Lv Ferrari Via Segantini 18 I 39100 Bolzano Italien Tel 04 71 28 01 44 Fax 04 71 28 27 45 GT Productique S A Mr Antoine Mucciante Immeuble Agora Z I Dom ne F 38420 Dom ne Tel 76 77 19 80 Fax 76 771855 Hilrobtec Hr Hilti Postfach 353 9490 Vaduz Liechtenstein Tel 075 29475 Fax 075 23132 Del Rain Europe Heereweg 441B P O Box 280 NL 2160 AG Lisse Niederlande Tel 0 25 22 1 74 33 Fax 025 23 3 1101 TS Tecno Service srl Fernando Sobacchi Via Europa 9 I 20085 Locate Triulzi Milano Tel 02 907 30 332 Fax 02 907 97 13 TEX Erich H v Ruffer 20 Shawnee Drive USA Watchung N J 07060 Tel 201 754 65 50 Fax 201 754 94 14
11. N Mode When you enter RUN label m ENT ROB3i starts executing the sequence of instructions in its memory starting at label m e BREAK Mode When the robot is in RUN mode all keys except the STOP key are disabled Pressing STOP CLR activates the BREAK mode You can switch back to RUN mode with RUN ENT CONTINUE Pressing STOP ENT allows you to select any of the other modes e STEP Mode Entering RUN label m ENT switches on the STEP mode starting at label m provided that label m exists of course You can then run through the program one step at a time by pressing the key Pressing CLR exits the STEP mode e DISPLAY Mode Entering STOP label m ENT switches the system to the DISPLAY mode starting at label m When you press the key the next instruction stored in the sequence in memory is displayed the corresponding LED on the Teachbox lights up but the instruction is not executed on the ROB3i Pressing CLR exits the DISPLAY mode 6 Summary of all Instructions and Commands Instructions MARK MENT oo pet ADEN i e a emai gm gle E ene Oe m 0 118 POSEN oenar Store current position TIM t ENT Setdelay period t x 100ms ee a ee ie He t 1 65535 COTOM ENL Goto lagel T 2 22 a e area endless loop GOTO m n ENT Go to label m n times ick woe une n 0 255 IE CENT 2 Wait until input i low IF i mENT input i low go to label m a Er else continue with next instruction OUT k ENT Set clear digua
12. e and multiple axes you can start adding other instructions to your programs Please consult Sections 6 Summary of all Instructions and Commands and 7 Reference to the Individual Instructions for full details 21 PROGRAM 4 Sample Program STOPOENT Clear memory generate program header MARKOENT Enter start address BER ot ak lt a 8 oh Switch to INPUT mode POS ERT icc er Store home arm position as starting position Standard beginning of the program TIM 40 ENT Set delay 4 seconds POS 1 400 ENT move axis 1 to position 150 CER era Switch to INPUT mode POSENT 224 24 Store new position as position 2 IF 1 ENT sossa Wait until input 1 is set LOW gnd E EE were re Select axis 2 for TEACH positioning eee ee ee ee Press key to move up in TEACH mode CLR ae Ku Switch to INPUT mode POS3 180ENT Move axis 3 to position 50 ae cee seca Select axis 4 for TEACH positioning u re Press key to move up in TEACH mode CUR ae a Switch to INPUT mode FOS ENT oe 5 Store new position as position 3 TIM 20 ENT Set delay 2 seconds The following sequence switches another machine or device on leaves it on for 10 seconds then switches it off again OUT 1 ENT Set output 1 to LOW gnd TIM 100 ENT Set delay 10 seconds 22 OUT1 ENT Reset output 1 to HIGH 5V GOTO0 5SENT Loop to label 0 5 times INS ENT Program end Tips and Suggestions You should also set a delay of
13. e pressure reducing valve is set for a gripper operating pressure of 5 bar 5000 hPa e The ROB 31 is then ready for operation with the pneumatic gripper Hardware requirements The ROB3i The power supply unit The Teachbox The RS 232 shorting connector Connect the ROB3i to the power supply unit with the two power leads Plug the Teachbox s 25 pin male connector into the I O port and the 9 pin shorting connector into the RS 232 port Turn the power switch to ON and press the RESET key on the ROB3i Now you can enter a program or move the ROB3i s arm directly with the appropriate instructions The ROB3i s program memory is nonvolatile and is powered by a long life lithium battery your programs will remain stored in the robot s memory for around 10 years even when the mains power is switched off 15 9 Digital Inputs and Outputs EMERGENCY OFF Function se Digital Inputs TTL Dii Pin 8 Biz Fin 20 DS Pin 7 DI4 Pin 19 Dis Pin 6 DI6 Pin 18 DE Pin 5 DIS Pin 17 All the digital inputs are active LOW e Digital Outputs TTL DOL Pim 25 DES Fin 12 DO3 Pin 24 DO4 Pin 11 DOS Pin 23 DO6 Pin 10 74LS244 DOT Pin 22 DO amp Fin 9 All the digital outputs are active LOW e EMERGENCY OFF for the ROB3i DIi0 Pin 4 The EMERGENCY OFF input is active LOW The emergency off function is realized with an NOC across pins 4 and 1 of the robot s O port Activation of the function switches off
14. gram EA ee Switch to POSITION mode This is followed by the body of the program consisting of positioning sequences loops and input and output instructions INS ENT This sequence must always be entered at the end of every taught in program When you are editing existing programs it should never be entered if you make changes in the body of the program only but you MUST enter it if you lengthen the program by overwriting the original program end instruction and adding more instructions e Practice Programs PROGRAM 1 Single Axis Positioning STOP QENT Clear memory generate program header MARKOENT Enter start address Ee ee Switch to INPUT mode POSEN rrsan Store home arm position as starting position Allthe practice programs begin with these four lines DE Select axis 1 for TEACH positioning ee En Depress key to turn right in TEACH mode Le N are are Switch to INPUT mode POS ENT osise Store new position as position 2 eee ern Select axis 1 for TEACH positioning ES NE Depress key to turn left in TEACH mode CER 2470 50 alas Switch to INPUT mode POSENT cae Store new position as position 3 POS 1 400 ENT Move axis 1 to position 150 CER 6 nw be Bae 3 Switch to INPUT mode FOSENT as 0 Store new position as position 4 POS 1 50 ENT Move axis 1 to position 50 CERE oe eye ee Switch to INPUT mode POSEN ax amp z Store new position as position 5 ENS CM Se ee Program end This program uses two different met
15. gram Programs can be delimited or subdivided with labels which are address markers inserted in the program code This feature makes it possible to chain individual program units stored in memory Subprograms identified by labels can also be called in response to the results of polling the status of the system s eight digital inputs making it possible for you to program the ROB3i to respond intelligently to external events Eight digital outputs are also included so that you can program the ROB3i to control its working environment But that s not all In addition you can choose from five different travel speeds set delays and repeating or endless loops and much more For people who enjoy working with computers the ROB3i is also fitted with an RS 232 serial interface making it possible to control and program the robot from any IBM compatible personal computer The software package available for this purpose provides the programmer with extensive support It is menu operated and all the control language instructions are permanently displayed on the screen for direct selection To add an instruction to the control program you are writing you simply select it with the cursor keys This approach eliminates the possibility of syntax errors Together with the comprehensive help texts which can be displayed as needed all these features give the system an optimally simple user interface For users who wish to develop their own robot control
16. hods for entering single axis movements Direct teaching using the and keys and direct entry of the target position with the POS axis a position n ENT instruction sequence Both of these methods can be used for all the robot s axes PROGRAM 2 Consecutive Single Axis Positioning for all 6 Axes STOP QENT Clear memory generate program header MARKOENT Enter start address CER orana wes Switch to INPUT mode POSENT oemoer Store home arm position as starting position Standard beginning of the program POS 1 400 ENT Move axis 1 to position 150 19 CLR I Switch to INPUT mode POSENT gs ees Store new position as position 2 P ee hee eee Select axis 2 for TEACH positioning Si eK E EN Depress key to move up in TEACH mode CUR 5 40 so mse Switch to INPUT mode POSENT e eer EN Store new position as position 3 POS 3 180 ENT Move axis 3 to position 50 Lu IP Seager ee Switch to INPUT mode POSENT spusa Store new position as position 4 A Ser ye T Select axis 4 for TEACH positioning SEENEN SECH Depress key to move up in TEACH mode E E EE Switch to INPUT mode POS BING A Ae Store new position as position 5 POSS 10 ENT Move axis 5 to position 10 ER T kre eek Switch to INPUT mode POS ENT a 3 Store new position as position 6 a eee as eee Select axis 6 for TEACH positioning ES hoy EE Press key to open gripper in TEACH mode CER tae ee ans Switch to INPUT mode POSENT 2 80 Store new position as pos
17. ition 7 IMS ENT 27 ek Program end In the above example all of the robot s axes are moved one after another in a consecutive sequence When you start the program all the axes will first be moved simultaneously to bring them back into the original home position and then the programmed movement sequence will be repeated 20 PROGRAM 3 Simultaneous Multiple Axis Positioning Note No matter how many axes you move the new robot arm position is not stored in the memory until you enter the POS ENT sequence STOPOENT Clear memory generate program header MARKOENT Enter start address u Di oe Sees ane Switch to INPUT mode POSEN D gene ce Store home arm position as starting position Standard beginning of the program POS 1 400 ENT Move axis 1 to position 150 De ee eee S Select axis 2 for TEACH positioning ee ee eee Press key to move up in teach mode KEE Switch to INPUT mode POS3 180 ENT Move axis 3 to position 50 EEE ET Select axis 4 for TEACH positioning FE EEE TE Press key to move up in TEACH mode S lt 4 eae ou des Select axis 5 for TEACH positioning APR eee eee Press key to turn right in TEACH mode REMA wey OR Beare A Select axis 6 for TEACH positioning E ee ae ede Press key to open gripper in TEACH mode Nee d Switch to INPUT mode POS ENT EE Store new position as target position INS ENL ires Program end Now that you have familiarized yourself with beginning and terminating programs and positioningsingl
18. l output k u Neu ENNEN k 1 8 AENT E NOP instruction STOPO ENT Program start INS ENT ue a Program end DEL ENT Halt instruction used to separate two consecutive programs in memory Commands a ENT Move axis a in POSITION mode POSa n ENT o Move axis ato positiona ss e y acu be Hi ee ns a 1 6 OUT k ENT Set clear digital output k directly RUN m ENT Run from label m RUN om ENT Activate STEP mode starting at label m BUNENT 4244 Continue BREAK mode RUN ENT Continue STEP mode SIOPLLM ee 63 Break stop program execution continue with RUN ENT STOP ENT a aa Stop switch to INPUT mode STOP ENT Activate DISPLAY mode STOP m ENT Activate DISPLAY mode starting at label m INSENT lt lt eax Insert instruction DELENT 94 5 Delete instruction CER e e tan Change mode clear on error Special features of the pneumatic gripper 6 ENT Pressing the PLUS or MINUS key once moves the gripper to the opposite end position POS 6 n ENT An even value for n opens the gripper an odd value closes it 10 7 Reference to the Individual Instructions e Program Start STOP 0 ENT This sequence generates the program header clearing the contents of the ROB3i s memory and initializing it for programming It should only be entered once at the beginning of a new programming session DON T use this command when you want to edit programs already in memory or add new programs to the those
19. ssary for interfacing with the ROB3i s YO port When the ROB3i is being operated with the Teachbox connected only 3 digital outputs DO 1 3 and 5 digital inputs DI 1 5 are available Each instruction key is fitted with an LED which lights up to confirm correct entry If you make an invalid command or instruction entry the ERR lamp will light up until you clear the incorrect entry by pressing CLR All instructions and commands must be confirmed with the ENT key e Numerical Keys Used for entering the axis designation numbers and position values e Command Keys RUN STOP INS DEL POS OUT Commands are executed immediately e Instruction Keys POS TIM OUT MARK IF GOTO NOP When you enter instructions they are stored in the robot s memory in the sequence in which you enter them They are only executed in RUN or STEP mode 5 Operating Modes The robot s integrated control system has six different operating modes e INPUT Mode For creating control programs by entering a sequence of instructions This is the default mode which is activated whenever the system is powered up e POSITION Mode This mode is selected by pressing one of the numerical keys 1 6 which also selects the corresponding axis You can then move the axis forwards or backwards with the and keys In this mode you can also position the axes directly with the sequence POS axis a positionn ENT Pressing CLR returns you to the INPUT mode e RU
20. the ROB3i s motors After eliminating the problem you must execute a RESET on the ROB3i unit then you can restart the control program 16 Power Supply Gnd Pin 1 AN Pins 2 13 I lt 50mA The power supply unit is only suitable for the connection of optocouplers Any external driver Stages must be provided with their own power supply Please note that the ground lines should NOT be connected when optocouplers are being used 10 Exercises with the Teachbox Connect the ROB3i and switch it on as described in Section 8 Hardware Installation Before you begin the exercises we suggest that you first move the robot s arm to the foilowing home position Pa A Saw Position Be ie ea ee lal er 255 oo ee ae oa 255 ee ea ee 255 EE 235 SE EEN 255 BE E EE 0 electric or pneumatic gripper is open To position the first axis enter the following key sequence POS 1 decimal point ENT When you press ENT axis 1 of the ROB3i will immediately move into position 255 which is the central position Repeat the procedure with the appropriate values for the remaining five axes CAUTION Please be extremely careful when you position axes 2 and 3 directly as these axes can move the gripper below the plane of the surface on which the ROB3i is mounted which can result in gripper damage Positions 0 30 and 225 255 with axis 2 are particularly dangerous If the gripper ever does collide the tabletop when you are positioning the arm directly
21. tions I O Instructions GEND era pre Stop execution at this point in the program until input i is low IF i m ENT Ifinputiis low when the statement is executed a jump is performed to label m otherwise execution continues with the next instruction OUT k ENT Set clear output k Please note the negative TTL logic Set low clear high OUT Kr CLR Allows you to poll the I O port and the ROB3i periphery directly either during a programming session or during a break in program execution Please dont terminate this command with ENT as this will store it in memory as part of the control program Set Delay HM t ENT Allows you to interrupt program execution for a specified period t x 100 ms The range of tis from 0 to 65535 which means that you can program delays of up to 100 minutes Insert the instruction in a loop to program longer delays e Program Halt DEL ENT Generates a program halt and switches on the RUN Jamp Execution can be restarted by pressing ENT This instruction is also used as a separator between consecutive separate programs in memory Pressing CLR switches to INPUT mode e Program End INS ENT This sequence must always be entered at the end of every teach in program When you are editing existing programs it should never be entered if you make changes in the body of the program only but you MUST enter it if you lengthen the program by overwriting the original program end instruction
Download Pdf Manuals
Related Search