Using the KAREL Teach Pendant (TP)

Entering Position Variables

Step 1: Compile and load oaa, enable TP; Press KCL softkey select default and enter desired program name

Step 2: Press Previous Menu 2 times, Choose F1 softkey, TEACH

Step 3: Uses Cursorscroll keys to defined Position Variables

Step 4: Move Robot to desired position – highlight the desired pos_name Variable; Press SHIFT + F1 (RECORD softkey in Teach menu)

Step 5: On Controller interface Panel (in KCL sub-menu) press MISC softkey, then press WHERE softkey, verify that both TP and UIP show same geometry

Step 6: On new choices press DONE softkey, this automatically (but temporally) stores the position geometry and cursors to the next position, repeat 4 – 5 – 6 for all positions

Step 7: Once all positions have been ‘programmed’ press SAVE softkey to store all the defined geometries into the file called: file_name.VR so they will be available the next time you restart the control after a power down – NOTE: if you didn’t SAVE after defining your positions and then powered down – all would be lost!!!

Modifying Variables (integers and reals)

Step 1: Compile and load all, enable TP; Press KCL softkey select default and enter desired program name

Step 2: Press Hard Key: DISPLAY SELECT; from Menu Displayed, Select Soft F2, VARS

Step 3: Press Softkey F2, PROGVAR; use cursor arrows to move to desired data name

Step 4: Press Softkey F5, KCL; Press Softkey F4, DATA

Step 5: Press softkey F1, SET

Step 6: Key in the desired value (use number keypad), Press ENTER key

STEP 7: Remember to SAVE data if desired (permanent record!)

Entering Nodes on a Path Variable

Step 1: Add path_name:PATH to the Variables section of your program

Step 2: Compile and load all, enable TP; Press KCL softkey select default and enter desired program name

Step 3: Press Hard Key: Display Select; From Menu that is displayed, Press Softkey F2, VARS

Step 4: Press Softkey F1: POSVAR; Cursor arrors to the path name desired; Press Hard Key: PREV MENU

Step 5: Press Softkey F1: TEACH; Press Softkey F5, MORE

Step 6: Press SHIFT + APPEND softkey (F2), this creates a node point Path_name[1] (uninitialized)

Step 7: Move robot to desired position, again cursor to the path_name[1] label; Press SHIFT + Softkey Record (F1) – this is in the Teach submenu

Step 8: On new choices press DONE Softkey, this automatically appends and positions cursor for a new node, repeat steps 7 and 8 to add all nodes.

To maneuver through the nodes and add new node by inserting or appending, go to main Softmenu (TEACH is F1), press TEACH softkey (F1) then More Softkey (F5): Display shows Delete (F1), Append (F2), Insert (F3) and INDEX (F4). To use these keys press SHIFT + Funci and they work like this:

Append: Adds node at end of list

Delete: Removes currently highlighted Node

Index: after entering a node value move you to that node

Insert: Inserts a node ahead of the currently highlighted node and re-numbers the existing nodes

BEST IDEA IS TO PLAY TO GET ACCUSTOMED

TO HOW THESE MENUS EVOLVE!!!!!