Program Editor
The program editor helps writing and testing robot programs. Programs consist of a list of motion or logic commands that are executed in succession. These can be added via the menu bar. While the program is running the program editor will mark the active command with a dot.
This article gives some advice on how to use the program editor.
Default Values
When programming long programs you may find yourself repeatedly setting the same velocity and smoothing settings, digital IO number or wait durations. The standard values for these can be defined in the "Edit" -> "Configuration..." dialog. These values are saved in the project configuration so you may want to save the project afterwards.
Keyboard Commands
The following keyboard commands are available to speed up your programming.
| Keys | Description |
|---|---|
| J | Add joint motion |
| L | Add linear motion |
| Ctrl+A | Select all commands |
| Up | Select previous command |
| Down | Select next command |
| Shift+Click | Add range to selection |
| Shift+Up/Down | Add next/previous command to selection |
| Ctrl+Click | Add command to selection |
| Delete | Delete selected command |
| Ctrl+Up/Down | Move selected command |
| Ctrl+T | Touch up - write the current position to the selected command |
| Ctrl+N | New program file |
| Ctrl+S | Save program file |
| Ctrl+Shift+S | Save as |
| Ctrl+Alt+Shift+S | Save all |
| Ctrl+O | Open program file |
| Ctrl+W | Close program file |
| Ctrl+Z | Undo |
| Ctrl+Y | Redo |
| Ctrl+X | Cut |
| Ctrl+C | Copy |
| Ctrl+V | Paste |
