UNDO ‘The UNDO functions allows you to correct a mistake by undoing the last action CAUTION An UNDO operation automatically rewrites the program, so that the results reay not be those expecied by the 9perator. Before executing 2 program after an undo operation, cayeully check the prograns, Notes ‘This function can undo the folloing operations ‘The UNDO fiosction is disatiod when any of the following operations are performed: Line deletion - Copying of program statements Progrant instruction replacement Reassignment of position numbers - Power Off ~ Selection of another programe Using the UNDO Function 56 1 2. You are in the program screen lf EDCMD is not above FS, press the NEXT key. Press F5. Select 8. UNDO oP) 00% NE 2.712] bonne PRE,4 I yrevious page | contents | next page 1 INST>REGISTERS> REGISTERS Couriting or storing a numerical value Registers may be thought of as containers. They will store numbers given to them, via a program or manually, until told to store something else. - ‘There are 32 registers as the default number on a RUS robot, but this may be increased to 256 as desired. In a program they look like so: R {il = 54 This statement means store a value of 54 in Register 4 = sSUsing a Register as a Counter Registers can be used as counters to count production, or parts produced. To use a register as a counter the following statement is required.@ [previous page | contents § next page bb Ri) = Rit) &1 Determines how many parts per oycle are being oN In this example 1 will be added into Register [1] every time the robot reads this statement ina program, Registers are found on the {INST] menu fi Resetting a Register Registers store the last value given to them until told otherwise. Therefore, it may be necessary to reset a register before using it. This will ensure that it begins its count at 0. To ‘aim fine should look like that t any register, the R [9] = 0 This means set the value of register 9.to zero. EXAMPLE INPUT. ‘AS an example, suppose we want to enter. RIV = RIT Fi _.in fo a program to set register 2 up as a counter. Procedure s a ae You are in the program screen and have inserted a blank line or the cursor is on on fend) : i ieseenia 4. IFINST is not above F1, press the NEX 2. Press F1 INST 3.. Select item Registers 200 2 seLect “War | 1 41 100% NE 2.3 WOR FREE“4 Fprevious page | contents next page b ras 2, 3p 00% =n 5. The cursor will now jump tothe first Position inthe tine and give a fst of choices like that shown : : 10) 10% FINE 2.1 P1100 FINEFors 00% FINE 29a 00% FINE ai inst =DcuD 41. The cursor will jump between the two square brackets. Enter the requifed register number. R21 = Riel te: 12. Enter the same value of register as that before the = sign. 18. The program line should now look like so, with the cursor to the right of the + sign: RI) = RIT 44, The screen below will appear giving these choices: PAUSED 2 Constant aoc a . oa £4 P11 00% FINE 2: er} 0094 FINE cai not DCH Rarer aa 15. Now we need to choose 2. Constant, to enter a constant value of 1. 46. Enter 1 via the numeric keypad and the program line will now look like so: RI2V=R(2}41<4 ior vious page | contents 1 ct page Bb i %88 Viewing Registers DATA Press the DATA key to view registers and position registers NOTE ‘To rohurn to the pogrom sen fom = ESTA | other) 1. Press the DATA key 2. Ifregisters are not displayed, press F1, TYPE and select Registers To change between Registers and Position | Registers, press | Eq TYPE. Le 3. To change the value a register is storing, cursor to it, use the humeric keypad to insert a new number, and press ENTER. Adding a Comment to a Register To add a comment to describe a register, cursor to the register and press ENTER. Alll the letters of the alphabet should appear above the function keys. Type in the required comment and press ENTER. 6€ [previous page t contents E next page | >4 tprevious page | contents | next page | ers | INST>REGISTERS> ARGUMENT REGISTERS Transferring data between programs nue Using ‘arguments’ and ‘argument registers’, itis possible to transfer data betwee programs : Data can be transferred between 2 programs only. SM GNotation The notation used for argument registers is ARI }. Argument registers are added to the CALL command when a program is called, like so: CALL SUB_1/2, R(31) Pope ee 8<€ | vrevious page b contents § next page bm To illustrate the principle of argument registers, lets look at 2 programs as an example. The first program is called MAIN and the second SUB_1 MAIN will pass 2 arguments to SUB_1 WEXAMPLE PaRi=2 |} [Eee oe p— | ARB RIT [| Bipietiis pointe | Main SUB_1 | / : J P{1] 100% FINE TF R(7] > AR[2}) JMPLBL(5} RI3] = 0 } Rte? = aRt1] LBL[LJ L P(1] 2000mm/sec PINE L P[2] 2000mm/sec FINE L P[2] 2000nm/sec FINE L P[3] 2000nm/sec FINE L P{3] 2000nm/sec FINE L P[4] 2000nm/sec FINE L P[A] 2000nm/sec FINE L P{4] 2000mm/sec FINE L P[$) 2000mm/sec FINE R(3] = R(3] +1 LBL[5] IF RI3} < 5 JMPLBL{1] fend) CALL SUB_1(2, RT3]} (End) I ARE =2 EERE AREI= RE) | Rls] at this pointis | equal to 5 due to the counter above, 64€ Lprevious page § contents I ne: INST>REGISTERS>POSITION REGISTERS POSITION REGISTERS Storing positional data away from a program DONOT ATTEMPT 10 USE POSTION REGISTERS UNTIL YOU HAVE READ ALL THE AVAILABLE INFORMATION AND UNDERSTOOD ALL THE GIVEN INSTRUCTION. — a A Position Register stores positional information, in the form of X, Y, Z, W, P and R Position Registers are a powerful programming too! because they can alter the way a program runs. Itis ESSENTIAL to understand Position Registers implicitly before you begin programming with them using Offsets, Position Registers are extremely versatile and have multiple uses. Warning Position Registers are affected by User Frames and Tool Frames.<4 Eprevious page | contents § next page b> Using Position Registers as Program Positions Position Registers are stored away from a program and as such can be used by multiple programs An efficient programming technique is to store frequently used positions (such as the Home position) in a Position Register. This can then be called up from as many different programs as require it. Advantages You may ata later date wish to alter your Home Position i it is stored in 2 Position Register yc ail programs using it will adjust accord on register and However, if you have not stored your Home Position in a Position Register you will need to go into every program using the Home Position and alter them individually. Recording Position Registers 4. Press the DATA key {f Position Registers are not displayed, press F1, [TYPE] PAUSED 2. 3. Select Position Reg 4. This screen be displayed 5. Cursor to the Position Register you wish to record into. 6. Jog the Robot to the required position and press SHIFT + F3, RECORD. wove TO secoRD POSTION clcAR Use SHIFT + F2, MOVE_TO to move to the position of the current Position Register. Use F5, CLEAR to clear the current Position Register. Adding to a Program To use the newly recorded position register in a program, record a position in space in the usual way (SHIFT + F1, POINT) regardless of where the robot is. 1. Cursor onto the position number of the recorded position like so: 664 i previous page | contents | next page b> v PEM) 100% FINE 2. Press F4 CHOICE 3. From the options available in the menu that appears, select PR[ ] 4. Enter the Position Register number you record the position in. Adding a Comment to a Position Register You may wish to add a comment fo 4 Position Register to describe it 4. in the DATA screen, cursor to the Pr press ENTER jon Register y ish to add a comment to and 2. All the letters of the alphabet will appear above the function keys. Type in the required comment and press ENTER. 3. Ifyou make a mistake, use the BACKSPACE key. 66 € | previous page | contents | next page b>4 Lprevious page b contents 1 next page 1 > INST>REGISTERS>POSITION REGISTERS LPOS/JPOS Recording the robots current positior. ‘The LPOS and JPOS commands allow you to store the current position of the robot into a position register. - “Program Examples PRIS] = LPOS LPOS stores the LINEAR (XYZWPR) coordinates of the robot PR{6] = JPOS JPOS stores the JOINT (J1...J6) coordinates of the robot 9You are in the program screen and have inserted a blank line or the cursor is on on [End]. 1. IFINST is not above F1, press the NEXT key. 2. Press F1 INST 3. Select item Registers 5 5. dept 2. ribevect 7. Wisctaneous 4 WaT PAUSED JPL too FNE i 2 2,15 100% FINE to 5. The cursor will now jump to the first position in the line and give a list of choices like that shown4 Lprevious page { contents | next page | 6, Select iiem2, PRI] 7, The cursor imp between the two square brackets like Prog une? PAUSED dP] 109% FINE 21 00% EINE Biers€ A vrevious page | contents | next page E>I previous page [contents | next page 1 ae oda INST>I/O> INPUTS AND OUTPUTS Controlling and Monitoring Inputs and Outputs Output ~ Will turn something on or off-(e.g. a gripper) Input - Monitors signals. (e.g. a sensor) ‘There are Various types of Inputs and Outputs (I/O), 4 are: SU SDigital * Digital /O (DO/D!) signais provide access to data on a single input or output signal line. * Signals can be ON or OFF. Robot * Robot digital input and output signals (RO/RI) are used to communicate between the controller and the robot. © Signal are ON or OFF. Bnext page |B Analogue * Analogue inputs and outputs (AVAO) are continuous input and output signals and indicate values such as temperature and voltage. Group © Group inputs and outputs (Gl/GO) are several digital input or output signals that have been assigned to a group, «They are read as binary numbers. For example, we have 4 conveyor belts, each with a digital input to check if a box is waiting to be picked up by the robot Combine the 4 digital inputs into group input (1), Gift]. Dif] has group input value of 2 EDI ee eceeeceeeeeeeeeee Di[2] has group input value of 4 I DI[3] has group input value of 8 | | | | | | | | | | | Di[4] has group input value of 16 Diz) HETEEELT ois) Therefore: ON ON FEAT ON & DI[3] = ON 0... ON & Dif] = ON & Dif] This feature allows for efficient programming and | | | | | | | | | | | | easy manipulation of digital inputs and outputs in a bit program, ae Group nuts ad outs en ao be assignee HTT registers. La€ {previous page | contents | next page L > Pees Us) ated : ‘As an example, suppose we wanted output number 3 on. 5 Procedure 5 ith 4. war fd Pi) 108 FINE 2. i 00% FINE ea inst e200 we Ah vor = 5. Got }= e001 FL TeR | ted Pf) 100% FINE 2. tz 100% FINE a 6. Enter the value of /O you wish to use, press ENTER and the cursor will jump actos: to the right of the = sign and the following choices will be displayed = 15evious page | contents § next pu fe) 10% FINE 2s 100% FINE ra 7. Select item 1. ON 8. The program line will now look like so: OT) SON 9. This procedure may also be followed to turn off an output. PULSE PULSE means the output will turn on for a spécified time only. For example, if the program line said: RO[3}] = PULSE 2 secs Robot output number3 would turn on for 2 seconds only. -4 A previous page I contents | next page b> s Viewing 10's 4, Press MENUS 5. Select /O 6. Ascreen similar to this should be displayed. f crs Outputs can be forced On | To switch between the different types of and OFF by pressing Fa | ‘output press fl [type], cursor to the correct a FS. | an | output and press enter. » ee ‘© Adding Comments to /0 Fork 170 goto "Ada 1. Press the MENUS key 2. Select VO 3. Ifthe 1/0 type you wish to add a comment to is not displayed, press F1, [TYPE] and select the required type of /O 4. Press F2 CONFIG 5. Press F4 DETAIL 6. Cursor to the output you wish to add a comment to, 7. Press ENTER, Letters of the alphabet will appear above the function keys. a@ | previous page | contents | next page bb ga encanto es ea SE eA 8. Using the function keys, enter a comment and then press ENTER. If you make a mistake, use the backspace key "To return to the programm screen, press the EDIT key. Each time the input or output is called within a program, the comment should appear in the program screen. If it does not you need to enable comments, See the EDCMD Menu. Adding Comments te ROBOT 1/0 9. Press the MENUS key 10. Select /O 11. If Robot I/O are not displayed, press F1, [TYPE] and select Robot /O. 12, Press F2 DETAIL 43, Cursor to the output you wish to add a comment to 14, Press ENTER 15. Using the alphabet above the function keys, enter a comment and then press ENTER Ifyou make a mistake, use the backspace key ence cen nee "To return to the progrant screen, press the EDIT key. Each time the input or output is called within a program, the comment should appear in the program screen. If it does not you need to enable comments, See the EDCMD Menu.€ [previous page | contents | next page | INST>IF/SELECT > iF STATEMENT Setting up conditional statements The If Statement alows you to carry out a program command, only when certain conditions are met. : When the set conditions are met, the robot can call another program to run or jump toa label. 4. INST is not above F1, press the NEXT keye Lcontents ¢ next page | > 2. Press F1 INST 3, Select item IF/SELECT Mssalersoue 11 P00 FINE 2. ez} 00% FINE IPi) 198 FN 2. Jz 2008 FINE 44 412. Enter the value of the constant you require and press El determine the number of cycles the robot make: fy PC] 100% FINE 2 Jota 00% FINE st eae 14, Select item 2. CALL and a list of all the teach ae alphabetical order. 15. If the program you wish to call is not listed, press 8. — ne) of programs. ; 46. The program line will now look like so:4 f previous page | contents § mext page bP IP R fi) = 3. CALL (name of program) Although this example calls a program depending on the IF statement, a JMPLBL could also be used with the IF statement fo jump fo another part of the same program. REMEMBER! "You must have the samo register as that in the IF statement set up as a counter above the IF statemont.INS TP>IE/ISELECT > SELECT Adding conditions into a program The SELECT statement is located on the INST menu and works in a similar but slightly different way to the IF statement. (How SELECT works: Imagine a program that needs to check a register value and then depending on the value jump to different lines in the program Suppose we use Group Input 1, GI[1] - Using Group Input 1, c= [1], many TF statements would be necessary like so: 2 CALL PROGRAMI 4 CALL PROGRAMI 8 CALL PROGRAM1 16 OMP{CALL P: GRAMS) ae 83page I contents f next page b> 4 different IF statements are necessary and the robot would read them all until it found one that was true. Instead, with the Select statement the program would work like so: ete Sew corte Geek & GEG) BG EL c 1. SELECT S147) 2 CALL PROGRAM] |) rhe robot will branch ale = PROGRAM1 -- Ste whichever statement Is true. OGRAY L, PROGRAM Entering a SELECT Procedure 1. You are in the program screen and have inserted a blank line or the cursor is on [End]. 2. If INS? is not above Fi, press the NExT key 3. Press £1 inst 4. Select IF/SELECT. a 5. Selects. next page Hae 6. The SELECT statement is available on this menu. Progam une? PAUSED fo as SES cae poesers fd) 100K FE 2. 19a 00% FA 7. Choose item 1 when you are setting up a new SELECT statement. 8. Choose item 2 or 3 when you wish to add new branches to an existing SELECT statement€ L previous page | contents | next page | > To add a branch to an existing SELECT statement, te cursor must be placed on the Ene below the existing SELECT statement or below the last branch added to the SELECT statement.86 € i vrevion page L contents | next page | b>Lcontents | next page 1 > INST>WAIT> WAIT INSTRUCTION Pausing the program or waiting for a condition to become true The WAIT Instruction tells the robot to wait for something to happen. “The robot can wait for : * Agiven time in seconds * An input or output * Aregister to be equal to a certain value. * Asemaphore Wait is located on the INST menu. 7 z o 3 : SPEER REECE EEE eee eee eee eee areaprevious page § contents | next page | ‘As an example we will enter a statement to make the robot wail for 2 seconds before ‘carrying on to the next program line. Procedure. ‘You are in the program screen and have inserted a blank line or the cursor is on on {End}. 1. IfINST is not above F1, press the NEXT key. PAUSED dP] 100% FINE 2] 100% FINE rai ner 3. Selectiter 1. WAIT ... (sec) 4. The program line will look like this: WAIT isecs. 5. Enter the number of seconds you wish to wait, and press ENTER. 6... -The program line should look tike this:4 previous page | contents § next page | > The WAIT Instruction can also be used to wait for inputs to tum on, or fo wait for a register to reach a certain value, 8990 4 [previous page | contents next page Eb4 previous page t contents ¥ ner page) > INST>Jmp/LbIi> LABELS & JUMP LABELS Using labels and jump labels to create cycles Labels (LBL) are simnitar to markers in that they mark a point in a program for the robot to jump to whe the jump to tabel (JMPLBL) command is used. Thef are therefore used for cycling purposes. For example: T. un Fl 2. J P[1] 100% FINE This fabel defines 3. 5 P{2} 1008 ee the line forthe robot | 4. 3 P{3] 1008 fine, i wil jump to to jump to when it 5. 5 Pf4} 1008 label [1], and hence reads @ JMPLBL{t] 8. J PI5] 1008 run the entire command. 7. J P16] 1008 Serena 8. J P{7] 100% again. 9. J P[8] 100% 10.dMPLBL [1] 1€ Lpre page i contents § next page 1 B ‘The above is an example of an unconditional ioop. It will continue to cycle no matter what, To set up a conditional loop, an IF statement is required in combination with a Register counter. ‘The order of the LBL and JMPLBL commands in a program does not matter. You can place a JMPLBL command anywhere in a program to jump to any other label, even if the label appears after the JMPLBL. Procedure You are in the program screen and have inserted a blank line or the cursor is on on {End} : 1, IFINST is not above F1, press the NEXT key 2. PressFIINST 3. Select item JMP/LBL 1 JH} 10% FINE 2.1 Pa] 00% FINE Tene) inst 4, Select 5.JMP/LBL and there will be two choices, shown below: 1. SMPLBL: 2. LBL 5. To enter a LBL, select 2.LBL and the value of the label may be entered via the numeric keypad. : There are 10,000 labels that can be used, but the same one cannot be used in the same program. You can jump to the label as many times as required, but there must be only one label with the same number in any one program. For example, only one LBL{99} or LBL[2}, etc. eee ree rece eee eee rece eeeeee eee erence4 previous page { contents | next page b> ‘The above example sets up an unconditional cycle. i.e. it wll cycle forever. To set up a conditional cycle, you need to use the IF statement together with registers, labels and jump labels. 9394 4 L previous page | contents § next page 1mINST>CALL> CALL INSTRUCTION Calling programs from within programs 2 a roll S @ In addition to using the CALL Statement in conjunction with the IF Statement, it can also be used alone. It is located on the INST fhenu and in a program looks like so: CALL (name of program) You ars iene).4b previous page | content 2. Press F1 INST 3. Select item CALL JP WOK FINE 008 FINE Praga! J 10s FINE 7) 1008 FINE 5, Select item 1, CALL program 6. There will then be a list of teach pendant programs displayed, select the program you wish to call. 4 ‘ Remember The robot always takes the shortest route from where it is to where it is going. Make sure the path between programs isa safe one to take4 | previous page t contents | next page b | Wis Function - Abort All When a program is called and not fully executed, the robot remains in CT INN ihetprearam. You cannot get back tothe host program until you press E the FCTN key and select 1. ABORT ALL 97| previous page { contents | next page | ®4 t previous page t contents | next page b INST>MISCELLANEOUS> RSRINSTRUCTIONS Enables or Disables the RSR function. ‘The robot service request (RSR) starts a program from an external device. The four robot service request signals (RSR1 to RSR4) are used for this function. The RSR instruction alternately enables or disables the RSR function having a spetified RSR number. RSR{__] (value} RSR t tod 4 \ ENABLE:RSR function enabled DISABLE: RSR function disabled 994 E previous page t contents | next pi€ Lvrevious page | contents | next page 1 INST>MISCELLANEOUS> USER ALARMS Setting up alarms to alert the user Itis possible to set up a message that will appear as a fault at the top of the teach pendant and stop program execution. “ This is achieved by using a user alarm, UALM, There are 10 different user alarms that can be used and each one can be set up to cause the robot to respond in a different way when it is greeted with a UALM instruction ina Program. 128 User Alarm Severity. There are different severities of user alarm that can be set up and the value is stored in a system variable called SUALRM_SEV. The value this variable stores can change how the robot responds to a user alarm. SEEEEEEEEE EE EECE PEPE EEC CoP CPRTRr eC Pr reer eerretreeer ee eeerererereeeerererereeerialltn ss = o Action No action Pause program ‘Abort program with error Stop program motion Pause program and stop is motion ‘Cancel program motion Pause program and ola|afeo|nfo| a} motion ati 16 added to any value causes the ‘servomotors to be tuned off 32 added fo any value causes the action to apply to all programs and all motions 64 added to any value requires a cold start to reset the controller The defeat clue ofall the user alarms 6 Changing the severity of a user alarm. To change the severity of a user alarm, the value stored in the system variable $UALRM_SEV must be changed. To do this: 1, Press the MENUS key. 2. Select System, you may need to select 0. next page first. 3. Press F1, [TYPE] 4. Select System Variables 5. The screen will look similar to below: Piccommememmmeeneeeeseeeee 1024 {previous page | contents { next page | > Sige Blostescr Bheworeas 6. Cursor fo SUALRM_SEV and press ENTER 7. The severities of all 10 user alarms is shown like so: B Cursor to the user alarm you wish to change and enter a new value with the numeric keypad, Press the MENUS key Select Setup Press F1 TYPE Select User Alarm and the following screen will be displayed showing the 10 user alarms, & Entering the User Alarm Messages 1034 [previous page f contents § next p ere Program’ 5. Cursor to the alarm you wish to use and press ENTER 6. The letters of the alphabet will appear above the function keys. Enter the message you require and press ENTER. 7. The message is now set and when a program encounters a UALM instruction calling that user alarm, the message will appear at the top of the teach pendant informing the user of the fault. dure 2 ee ‘You are in the program screen and have inser {End] : 3 4 2. IF INST is not above F1, press the NEx: 3. Press Fi, inst. 4. You need to select Miscelianeo! next page first.) 6. It will appear in your program like so: ALM i The cursor will sit in the brackets Enter the value of alarm you wish to use and press ENTER. 1@ LE vrevious page t contents | next page | SWLSNEL INS T>MISCELLANEOUS> TIMERS Timing all or part of a program ‘Timers can be used to time all or any part of a program. A timer will store the last time recorded into it, even after the controller has been switched off. When it is next Used, it will continue to add onto that time and so will fot give a true reading of how long a program took to execute. It is for this reason that a timer must be reset before it is used. Timers are located on the Instruction Menu [INST] and in a program will look like so: ‘TIMER [2] = RESET ‘TIMER [2] = START + 3 P[1]} 1008 FINE J P{2] 100% FINE + ZL P[3] 2000mm/sec FINE L P[4] 2000mm/sec FINE DIMER [2] = STOP BOWEN BEEEEEEEE EEE EEE EHEHEEE HEHEHE HEHE CEE EPEC EEE EERE Creer OdEntering a TIMER command. Procedure You are in the program screen and have inserted a blank line or the cursor is on {End} 1, If INST is not above F1, press the NEXT key. 2. Press F1 INST first.) 4. Ones in the Miscellaneous menu, select TIMER[ ] 5. It will appear in your program like so: ‘TIMER [ 6. Enter the value of timer you wish to use (there are a possible ten) and press ENTER 7. The cursor will jump over the = sign and give you the following choices: T. RESET i 2 cares 2. START 3. STOP : soe ~ ‘Choose the item you require. pore tec nn ne ere rsa tnt ae annen Remember, you must reset a tinier before startin Viewing Timers 1. To view the timer recorded by a timer in a program, press the MENUS key. 2. Select 0. next page Select Status ® 4. Press F1 TYPE and select Prg Timer. SO See eee eee4 revious page t contents I next page 1 INS T>MISCELLANEOUS> OVERRIDE Control the override speed with a prograin instruction. The override instruction allows you to control, through a program instruction, the override speed the robot runs at. Values available are 0 — 100%. ~ Be Example P{i] 1008 FINE P(2] 2000mm/sec FINE P(3] 2000mm/sec FINE OVERRIDE 100% L P[4) 2000mm/sec FINE EL P{5] 2000mm/sec FINE L P[6] 2000mm/sec FINE L P[7} 2000mm/sec FINE OVERRIDE 20% b P{@] 2000mm/sec FINE L P[9] 2000mm/sec FINE L P[10] 2000mm/sec FINE (Bnd) J 107@ Lvrevions page | contents § next page § >€ [previous page | contents § next page | > INS T>MISCELLANEOUS> i REMARK Adding a comment into a program Remarks are basically comments that you can add at any point to a program. A remark will make no difference to a program because the robot ignores them. They merely serve as a way for the programmer to add a comment that may later aid memory as to what each line of the program does. Lines of code in a teach pendant program do not make for easy reading to anybody unfamiliar to it. Adding comments at appropriate points to explain what a program is doing will serve as a guide to what the program does to a user. EXAMPLE INPUTRemember, the robot does not read the comment during program execution4 [previous page { contents I next page > LSN1 INST>MISCELLANEOUS> MESSAGE Allows you to display a message on the user screen. ‘The message instruction displays a specified message on the user screen gE ser Screen ‘The user screen displays messages from a program being executed. To view the User screen: 1. Press the MENUS key. 2. Select User. Note When a message instruction is not executed, nothing appears on this screen. A message can consist of up to 24 characters including alphanumeric characters, asterisks (*), underlines(_) and ampersand marks, (@). 1