CADM MC600

Robotics
Copying & editing
programs

1
 OBJECTIVES
2

• Inserting blank lines into a Program

• Deleting lines from a Program
• Finding program instructions within a Program
• Replacing Items
• Renumbering Positional ID’s
• Copying a Program
• Copying and Pasting Program Lines
• Comments, Replace, Remark, Renumber & Undo
Commands
 3

SELECT SCREEN COPY/DELETING PROGRAMS

• Copying programs
– Before editing a program, you can make a copy
of it
• Deleting programs
– When a program is deleted, it cannot be
recovered
– A paused program must be aborted before
deleting
• Renaming
– You can choose DETAIL to go in and rename a
program
 4

ABORT A PROGRAM
The currently selected
program must be aborted
in order to delete or copy that
specific program.

Fctn 1 ABORT (ALL)

 5

COPYING A PROGRAM
1. Move the cursor to the program you want to copy
by pressing SELECT.
2. Press the NEXT key until F1 [COPY] is displayed and
select F1 [COPY].
3. Type in the new copied program name and press
ENTER.
4. Press the F4 [YES] key to confirm, otherwise, press F5
[NO] to cancel copying the program.
5. When you press F4[YES], the selected program will
be copied. The SELECT menu will be displayed and
the copied program will be displayed in the SELECT
menu.
 6

(EDCMD) EDIT COMMAND

NEXT > EDCMD

 7

EDITING A PROGRAM: WITH F5 [EDCMD] SOFTKEY

• Insert must be used when adding steps to a program, to avoid

overwriting existing data
• Delete removes one or several lines
• Copy/Cut/Paste can copy or copy/cut a range of lines and
paste them in the same program or to another program
• Find allows you to search for the next instance of an instruction
• Replace allows search-and-replace of registers, sped,
termination type, motion options and branching logic
• Renumber allows positions to be renumbered sequentially from
start to finish of the program
• Comment selects whether comments from other labels will
appear on the EDIT screen
• Undo allows you to undo the last edit (only)
• Remark allows you to disable instructions
 8

[EDCMD] INSERT
Place cursor on the line
below the spot you want to
insert a line/s
Press F5 [EDCMD]
Press ENTER with cursor on
line 1 – Insert
If you only want to insert one
line, press ENTER twice
If you want more than one
line inserted, press the
number of lines, when
prompted, and press ENTER
 9

[EDCMD] DELETE
Place cursor on the line,
or first line you want to
delete
Press F5 [EDCMD]
Press ENTER with
cursor on line 2 – Delete
If you only want to delete
one line, press F4 YES
If you want to delete
more than one line,
cursor up/down to select
the range of lines
desired, as prompted,
then press F4 YES.
 [EDCMD] COPY/CUT/PASTE 10

Place cursor on the line, or first line you want

to copy
Press F5 [EDCMD]
Press ENTER with cursor on line 3 – Copy
Press F2 COPY to select the function, then
cursor to select the range of lines you want to
copy.
Press F2 COPY again, to copy the lines
Move the cursor to the line below where you
want to paste the copied lines.
Press F5 PASTE and select the method
which you’d like to paste with (LOGIC,
POSID, POSITION, R-LOGIC, R-POSID, RM-
POSID, R-POS, RM-POS)
Press PREV to leave the COPY screen and
return to the full EDIT screen.
 Copied program instructions:

1: J P[1] 100% CNT100

2: L P[2] 500mm/sec CNT80
3: DO[1] = ON
4: J P[3] 50% CNT
5: L P[4] 10mm/sec FINE
6: CALL HOME

Method Description Pasted Program

Instructions
LOGIC (F2) Pastes the lines exactly as the 7: J P[…] 100% CNT
were copied 8: L P[…] 500mm/sec CNT80
Does not record positions 9: DO[1] = ON
10: J P[…] 50% CNT50
Leaves the position numbers 11: L P[…] 10mm/sec FINE
blank 12: CALL HOME
POSID (F3) Pastes the lines exactly as they 7: J P[1] 100% CNT
were copied 8: L P[2] 500mm/sec CNT80
Retains the original position 9: DO[1] = ON
10: J P[3] 50% CNT50
numbers 11: L P[4] 10mm/sec FINE
12: CALL HOME
POSITION Pastes the lines exactly as they 7: J P[5] 100% CNT
(F4) were copied 8: L P[6] 500mm/sec CNT80
Renumbers the copied 9: DO[1] = ON
10: J P[7] 50% CNT50
positions with next available 11: L P[8] 10mm/sec FINE
position numbers 12: CALL HOME
Retains copied positional data
CANCEL (F5) Cancels the paste and retains the copied lines so you can
paste them elsewhere
 12
Method Description Pasted Program
Instructions
R-LOGIC Pastes the lines in reverse order 7: CALL HOME
(NEXT+F1) 8: L P[…] 10mm/sec
Does not record positions FINE
Leaves the position numbers blank 9: J P[…] 50% CNT50
10: DO[1] = ON
11: L P[…] 500mm/sec
CNT80
12: J P[…] 100%
CNT100
R-POSID Pastes the lines in reverse order 7: CALL HOME
(NEXT+F2) 8: L 4] 10mm/sec FINE
Retains the original position numbers 9: J P[3] 50% CNT50
10: DO[1] = ON
11: L P[2] 500mm/sec
CNT80
12: J P[1] 100% CNT100
R-POS Pastes the instructions in reverse order 7: CALL HOME
(NEXT+F4) 8: L P[8] 10mm/sec
Renumbers the copied positions with FINE
the next available position numbers 9: J P[7] 50% CNT50
10: DO[1] = ON
11: L P[6] 500mm/sec
CNT80
12: J P[5] 100% CNT100
 13

RM-POSID Pastes all instructions except motion instructions in reverse 1st:

(NEXT+F3) order J P[i] 100% CNT100,
Motion instructions are created using the current (first) and Offset, PR[x]
next (second) motion instruction:
Motion type, speed and motion-related options are used 2nd:
from the second motion instruction L P[j] 50mm/sec FINE
Positional data, termination type and non-motion-related ACC150 PTH
options are used from the first motion instruction
The bottom motion instruction in the copied area is pasted Result:
as is. L P[j] 50mm/sec FINE
Retains the original position numbers. ACC105 PTH
Modal instructions, such as I/O, are pasted in reverse order, L P[i] 50mm/sec CNT100
but the states are not changed (ON to OFF, or OFF to ON); Offset,PR[x] ACC150
you must modify these after the paste. PTH
UTOOL and UFRAME change instructions and position
register instructions are pasted in reverse order, but the 7: CALL HOME
frame numbers and register numbers are not changed; 8: L P[4] 10mm/sec FINE
you must modify these after the paste. 9: L P[3] 10mm/sec
Motion instructions that contain the following motion CNT50
options are only copied in reverse order and cause a 10: DO[1] = ON
warning to be displayed: 11: J P[2] 50% CNT80
Application commands 12: L P[1] 500mm/sec
SKIP CNT100
INC (incremental motion)
Continuous turn
TIME BEFORE/AFTER
Method Description Pasted Program Instructions
14
RM- Pasted all instructions except motion instructions in reverse 1st:
POS
(NEXT+F
order J P[k] 100% CNT100,
5) Motion instructions are created using the current (first) and Offset, PR[x]
next (second) motion instruction:
Motion type, speed and motion-related options are used
from the second motion instruction 2nd:
Positional data, termination type and non-motion-related L P[l] 50mm/sec FINE
options are used from the first motion instruction ACC150 PTH
The bottom motion instruction in the copied area pasted as is
Renumbers the copied positions with the next available Result:
position numbers L P[l] 50mm/sec FINE
Modal instructions, such as I/O, are pasted in reverse order,
but the states are not changed (ON to OFF, or OFF to ON);
ACC105 PTH
you must modify these after the paste L P[k] 50mm/sec CNT100
UTOOL and UFRAME change instructions and position register Offset,PR[x] ACC150 PTH
instructions are pasted in reverse order, but the frame
numbers and register numbers are not changed; you must 7: CALL HOME
modify these after the paste 8: L P[8] 10mm/sec FINE
Motion instructions that contain the following motion options 9: L P[7] 10mm/sec CNT50
are only copied in reverse order and cause a warning to be
displayed
10: DO[1] = ON
Application commands 11: J P[6] 50% CNT80
SKIP 12: L P[5] 500mm/sec
INC (incremental motion) CNT100
Continuous turn
TIME BEFORE/AFTER
 PASTE – F2 LOGIC 15

SAMPLE PROGRAM PASTED PROGRAM

(F2) LOGIC - adds the lines exactly as they were copied,

does not record positions, but leaves the position numbers
blank.
 16

PASTE F3 - POSID

SAMPLE PROGRAM PASTED PROGRAM

(F3) POS-ID - adds the lines exactly as they were copied,

and retains the current position numbers. (Works best when
pasting INSIDE of the same program)
 17

PASTE F4 - POSITION
SAMPLE PROGRAM PASTED PROGRAM

(F4) POSITION - adds the lines exactly as they were copied,

and renumbers the copied positions with the next available
position numbers. All positional data is transferred. (Works best
when pasting OUTSIDE of program )
 PASTE F2 – R-POSID 18

SAMPLE PROGRAM PASTED PROGRAM

(NEXT+F2) R-POS-ID - adds the lines in reverse order

and retains their original position numbers
 19

PASTE F4 - RPOS

SAMPLE PROGRAM PASTED PROGRAM

(NEXT+F4) R-POS - adds the lines in reverse order and

renumbers the copied positions with the next available
position numbers.
 20

REVERSE PATH PASTE

– When a range of instruction is copied
it remains in a buffer until another
COPY is made
Use the up or down cursor to select the range of
lines to be copied.
The lines can be pasted in normal or reverse
order in a variety of ways
– The RM-POS-ID, and RM-POS keys do
not paste all instructions exactly as
written
Motion instructions are reconstructed so that
motion, speed and termination type occur at the
proper places in a path
 PASTE F5 - RM-POS
21

SAMPLE PROGRAM PASTED PROGRAM

(NEXT+F5) RM-POS – paste all instructions except motion

instructions in reverse order. Motion instructions are created
using the current (first) and next (second) motion instruction.
Renumbers the copied positions with the next available position
numbers. [Motion types and Termination Types are reversed as
needed to follow the same path]
 [EDCMD] FIND
22

Place cursor on line #1 of the program, as the Find function will search from the
location of the cursor on down. Press F5 [EDCMD]
Press ENTER with cursor on line “4 Find”
Select what you want to find from the sub-menus
You will be prompted to find the next instance of what you are searching for
 [EDCMD] REPLACE 23

Place cursor on line #1 of the program, as the Replace function will search from
the location of the cursor on down. Press F5 [EDCMD]
Press ENTER with cursor on line “5 Replace”
Select what you want to replace from the sub-menus
You will be prompted to find the next instance of what you are searching for to
replace
 [EDCMD] RENUMBER
24

Place cursor on line #1 of

the program
Press F5 [EDCMD]
Press ENTER with cursor on
line “6 Renumber”
Press F4 YES
This will renumber position
sequentially, while keeping
like positions (multiple
instructions using the same
position number) numbered
alike with their new position
number
 [EDCMD] COMMENT
25

To toggle comments on/off (comments on PR[n]s, I/O, R[n]s, etc.)

Press F5 [EDCMD]
Press ENTER with cursor on line 7 – Comment
You will see the comments either appear or be hidden
 [EDCMD] UNDO 26

To undo an edit
Press F5 [EDCMD]
Press ENTER with cursor on line 8 – Undo
Press F4 YES to undo the edit
 UNDOING AN EDIT 27

• The UNDO function

– UNDO acts as a single level UNDO for the following:
Touching-up or modifying a motion instruction
Modifying an application or other instruction
Overwriting a line with a new one
Insert or delete from [EDCMD]
Copy operation from [EDCMD] (Prior paste buffer is restored)
Paste operation from [EDCMD]
Replace operation from [EDCMD]
Renumbering of position numbers from [EDCMD]
– UNDO operation just after another UNDO is a re-do
– UNDO will undo multiple changes on a program line
 UNDO LIMITATIONS 28

– UNDO has the following limitations:

UNDO doesn't work in background edit
UNDO doesn't work on a write protected program
UNDO can't recover a deleted program
UNDO doesn't work if insufficient memory is available
– You can't undo a change if any of the
following occur before the UNDO
Power failure or off
Another program with the same name is loaded in
overwrite mode
A Program Adjust is executed
 [EDCMD] REMARK 29

To disable one, or more, instructions from

functioning, without deleting them (you
may want to reinstate the function at a
later time), put your cursor on the line, or
first line in a range of lines to remark
Note: This should not be confused with
the [INST], Misc, Remark, which is
simply readable text in a program and
recognizable with the “!” at the
beginning of the instruction
Press F5 [EDCMD]
Press ENTER with cursor on line
9 – Remark
Select the line, or range of lines to
remark/unremark and press
REMARK/UNREMARK
 INSERTING LINES INTO A PROGRAM 30

1. Cursor to the line in the program where you intend

to insert a blank line(s). The insertion point will be
above the line where you placed the cursor.
2. Press F5 [EDCMD]. If the label [EDCMD] is not found
above the F5 key, press NEXT key.
a) Select 1 Insert
3. You will see the prompt “How many lines to insert?”.
Key in the number if lines. Press ENTER.
 DELETING LINES FROM A PROGRAM
31

1. Cursor to the first line in the program you intend to

delete.
2. Press F5 [EDCMD]. If the label [EDCMD] is not found
above the F5 key, press NEXT key.
3. Select 2 Delete.
4. You will see the prompt “Delete Line(s)?” If you are
to delete multiple lines you need to cursor up or
down to make multiple selections.
5. Press F4, [YES] to continue with deletion.
 32

COPYING AND PASTING LINES

1. Press F5 [EDCMD]. If the label [EDCMD] is not found above the
F5 key press NEXT key.
a) Select 3 Copy/Cut
b) Press ENTER. You will see the prompt “Select lines”.
2. Cursor to the first program line you are to copy/cut.
3. Press F2 [SELECT]. You will see the prompt “Move cursor to select
range”.
4. For just one line press F2 [COPY] or press F3 [CUT]. For multiple
lines cursor down or up to select lines then press F2 [COPY] or
press F3 [CUT].
5. Cursor to the line number of [END] instruction in the program
where the program lines are to be pasted.
6. Press F5 [PASTE]
7. Press the Function key for the pasting method required.
 USING REPLACE 33

1. Press F5 [EDCMD]. If the label [EDCMD] is not found above the F5

key press NEXT key.
a) Select 5 Replace. You will see the prompt “Select old item”.
2. Select the item you would like to replace from the “Select Replace
menu”.
3. Respond to the prompts on the display to replace or insert
instructions. Depending on what you selected there may be
multiple screens prompting for an action. Continue through each
screen until you see the prompt “Replace OK?” or “Insert OK?” or
“Remove OK?”
4. Press the appropriate Function key to execute the replacement:
• F2 [ALL]. Replaces instructions for each line from the cursor down.
• F3 [YES]. Will replace the instruction on the current lime the cursor is on
only.
• F4 [NEXT]. Will skip the replacement for the current line and move the
cursor to the next line.
• F5 [EXIT]. Terminates the edit.
 USING UNDO 34

1.Press F5 [EDCMD]. If the label [EDCMD] is not

found above the F5 key press NEXT key.
a)Select 8 Undo
b)You will see the prompt “Undo ?”
2.Press F4 [YES]
 USING REMARK
35

1. Cursor to the first line in the program that you intend to remark
or unremark.
2. Press F5 [EDCMD]. If the label [EDCMD] is not found above the
F5 key press NEXT key.
a) Select 9 Remark. You will see the prompt “Select lines to remark
or unremark?”
3. If you are to remark or unremark multiple lines you will need to
cursor up or down to make multiple selections

To Remark: Skip this step if you are looking to unremark. Press

F4 [REMARK]
To Unremark: Perform step 2 the press F5 [UNREMARK]