2.1 Axis action
Click the button 
to enter the following interface.
Insert: In the instruction page, select the location where you want to insert the action and choose to teach the action. Click
Insert to insert the action into the program.
Insert: When the axis and the target location click "set" and then click "Insert" to teach the location of the target point to
the program.
Sync: Select several axes and then select "Synchronize" the axis will be in motion at the same time movement.
Rel point: Check the coordinates of the axis after the point of the optional use of the edited reference point.
Early End Pos: Inserting this step into teaching indicates that the next movement has started when the axis has not reached the target position when it reached the end position.
Use case: If the advance position is set to 200 and the position is set to 1000, the axis moves to the position of 800 (1000- 200) and the next step is carried out, and the procedure continues to 1000.
ESD POS: Insert this step in the teachings to indicate that the axis will decelerate at the set speed when it reaches the advanced deceleration position.
Use case: If the advance position is set to 200, the advance deceleration rate is 5%, the position is set to 1000, and the speed is set to 80%. Then the axis from 0-800 to 80% of the speed of operation, 800-1000 to 5% speed. Signal stop or
Fast stop: When the input signal is detected, it will decelerate to stop or stop immediately.
Rel(Relative): Moves the set distance relative to the current position.
Stop: When selecting an axis and selecting "Stop", the program will stop immediately when running.
2.2 Path
Click the button 
to enter the following interface.
Area 1 is the type of action to insert:
Line 2D (Line XY, Line XZ, Line YZ): Holds the position in a plane from the current position to the "end point" position.
Line 3D: In the space, from the current position to "set to end" position to maintain a position to go straight.
Curve 2D (Curve XZ, Curve XZ, Curve YZ): Holds the arc in a plane from the current position to the position set to the
intermediate point and the position set as the end point.
Curve 3D: In the space, from the current to "set to the middle point" position and "set to the end of the" position to
maintain a position to take a curve
Posture: from the current position into the target position.
Relative line: The current point as a starting point, the direction of the offset coordinates.
Relative Curve: The current point as a starting point, the direction of the offset coordinates.
Posture straight line: from the current point of conversion into the target position to "set the end" of the location of a straight line.
Pose curve: from the current point of change into the target position to “set to the middle point” and “set to the end” of the position to take the curve.
Pose full circle: from the current point of conversion into the target position to “set to the middle point” and “set to the end of the” circle.
Free path: no track movement, the movement of the axis at the same time moving simultaneously.
Relative Joint: Offset in the axial direction relative to the joint.
Relative posture line: Starting from the current point, U, V, W keep a posture in the direction of coordinate offset.
Relative posture curve: from the current point as a starting point, U, V, W to keep a posture in the direction of coordinate offset.
Full circle: Draws a circle with three known points.
Area 2 is to set the coordinates of the location method, set in two ways:
The first one: If it is the current manual control to display the coordinates of the coordinates of the edit position to edit the box you need to first hit the [set] button and then click [set the end] can be, if you want to zero is a direct click [Zero]
button. Second: use the reference point, check the reference point selection box 111 drop-down triangle arrows to select
"point", and then click "set to the middle point" or "Set the end point(Set Epos)" button to replace the coordinates of the
target point Coordinate value can be.
Reference point button Edit method:
Step 1: Check the box to use it.
Step 2: Click this icon in the lower left corner to open the reference point edit button interface, as shown below:
Reference point role: to facilitate the user for the location of a point to re-use. Note! : The free path can only refer to the joints, and the relative joints can only refer to the offset points. The rest of the action types can only refer to path points.
Points of the editing process:
Step 1: Position Instruction: Edit the value directly Move the axis to the target point and then click "Set World Position or "Set Joint Position" (choose according to the type of new point).
Step 2: Create a new point name in the Point Name dialog box.
Step 3: Click once to create a new type point (new node, the new path, the new offset point) to edit the point of editing a blank point to the dialog box. Delete method: select the point you want to delete into a light blue and then click the "Delete" button.
Replace Location Method: Edit the "New Location" and click the "Replace Location" button to complete the replacement.
2.3 Signal output
Click 
button enters the following interface：
Output signal insertion method: Select the output point type (□Y/□ board output/□ intermediate variable/□ time output Y/□ interval output Y/□ interval output M)→select the output point on/off (□on/□off) → Set the delay time → click the [Save] button → select the position you want to insert on the teaching page and click [Insert].
Note: Clicking on an output button turns green and the output point outputs a signal.
Y: Y is turned on or off after waiting for the delay.
Board output: By selecting the board type as IO board or M board, the board ID is the number of IO boards or the board
waiting for the delay to output, as shown below:
Intermediate variable: A variable value that can be changed.
Example of intermediate variable use: In the main program, teach the intermediate variable output of M027 (alarm status) and wait for the intermediate variable M027 (alarm status) in the subroutine.
Teaching of the main program：
Subprogram teaching：
Time output Y: When the program is executed to this step, the Y output will be turned on and then automatically turned off according to the set time. The next action will be executed while waiting.
Interval output Y: The modulus set by the interval is output and Y is output according to the operation time.
Interval output M: Outputs M according to the operation time after the modulus set by the interval.
2.4 Signal Detection
Click 
button enters the following interface：
The insertion start detection and the end detection operation are performed to detect the presence or absence of an input signal from the start of the detection operation to the end detection operation, and the alarm is immediately satisfied when the condition is satisfied.
2.5 Conditional jump
Click
button enters the following interface：
Label usage：
1、Select “þ Define Labels option, click the label edit box “Label ” Pop up keyboard edit name.
2、Insert the label name from the previous step in the position where you need to jump in the program.
3、select“þ Define Labels option”Enter the condition selection interface:
4、After editing the conditions, click the [Insert] button at the position you want to insert.
Note: Always use the conditional jump to insert the label first.
2.6 Wait
Click 
button enters the following interface：
Wait signal insertion method: Select the wait point type (X or intermediate variable) → select the wait for on or off or the rising or falling edge signal type → set the delay time → click the [Save] button → the position to be inserted on the teach page Next click [Insert].
Simple delay: After inserting a simple delay action, the run automatically runs until the action waits for the set delay time before continuing to run the next action.
Rising edge: The signal is from nothing.
Falling edge: Signals from yes to no.
Remark: When the action is executed after inserting, the system will alarm when the set waiting time condition is not reached.
2.7 Counter
Click 
button enters the following interface:
The counter can be edited under this interface.
Counter classification: 1 1 type counter
Clear type counter
Set the current value counter.
Counter new method: Select counter type → New counter name → click the [New] button → click the [Save] button →
Finish
Current: The count value of the current counter. The value can be set according to the actual situation of the user.
Use case for current value setting: If the counter used when defining the stack is a self-defined counter, assuming that the current value of the self-defined counter is set to 2, then the robot will start stacking things from the second item when running the first model. .
Target: The target yield of the counter count. Set the current value counter: If you select the current value and input the value directly in the input box under the address, it means the value is the current value of the counter; if you select the current value and check the use address, the input box The value entered in the value is the current value of the counter under the value address.
2.8 Timer
Click
button enters the following interface:：
If the timer is selected to start, it means that the automatic first mode starts to count when the action is reached, and the timer does not count or clear after reaching the target value; If the reset is selected, it means that the timer is cleared and re-timed when the timer reaches the target value and runs to the action.
When the auto reset function is selected, the timer reset is automatically performed for the time in the timer and the timer is reset. When the action is reached, the re-time is started.
Single-point output: Outputs or disconnects a Y value on the IO board after the timer expires.
Whole board output: After the chronograph time in the timer, select an IO board in the IO board to output or disconnect all Y values on the whole IO board.
EU output: Output or on/off at an EU point on the EU board after the timer expires.
M point output: When the timer expires, the M value point on the M board is output or disconnected.
M board output: Select one M board in the IO board bar to output or disconnect all M values on the whole M board after the timer expires.
Detection input: Whether there is a signal on an X input point on the IO board after the timer expires, and if it detects that the condition is not met, it will alarm immediately. If the target value of the timer is 5, the detection input X25 is activated.
When the automatic running timer reaches 5s, the X25 signal is detected. If there is no signal input for X25, it will alarm immediately.
Reset timer: resets when running to the action timer (only re-times when running to start timer action)
Pause timer: running to the action timer will pause the timer (only when running to the start timer action will continue to
count)
2.9 Sync
Click 
button enters the following interface：
Inserting a sync start and a sync end before and after a program indicates that the program is combined and moved at the same time.
Note:
1. Synchronization cannot be nested with each other.
2. The jump cannot use the sync function.
3. A certain combination of synchronization start and synchronization end occurs. When synchronization starts, it is necessary to teach another synchronization end.
4, conditions can use the synchronization function.
2.10 Comment
Click 
button enters the following interface:
The comment is the meaning of the mark. When the user teaches a lot of programs, if too many looks seem messy, then the different comments can be made before and after the different programs to find the problem.
Comment editing method: Open the text edit box in the blank click → edit the name and click the [Save] button → select the next line of the position to be inserted and click [Insert].