Comau C3G Plus, Operation And Maintenance Manual, Page: 92 / 266

Edit
The EDIT command invokes the programme editor: this is an integrated programming environment which al-
lows the programmer to edit, teach points and verify PDL2 programmes.
(Refer to the C3G Programming Guide manual).
The programme editor works with PDL2 programme code files (.COD) stored on the RAM disk (RD:). A
programme name parameter is required and the asterisk cannot be used.
By default, the editor will be in DATA mode when it is invoked. Programmes can be edited in DATA mode
only when the PROGR/AUTO selector is set to PROGR and the specified programme is not being taught or
is not activated.
If the programme will not load because of a file data corruption error, recover a backup copy or use the
FILER PRINT command to convert the file into an ASCII file. For further information about this procedure, re-
fer to the FILER PRINT command.
The EDIT command cannot be used with memory, system or programme protection on or when the control-
ler is in FATAL status, nor when the FILER EDIT, MEMORY DEBUG or PROGRAM EDIT (DATA or CODE
mode) are active or when the EZ environment is enabled. Use of the PROGRAM EDIT command with the
MEMORY TEACH command active is possible in CODE mode but not DATA.
Options: /Code invokes CODE mode editing, allowing the programmer to modify the programme
instructions but not to teach or debug. The CODE mode must be used to modify the
statement section of a programme.
In the CODE mode any activated or loaded programme can be edited.
Syntax: PE <programme_name>
Go
The GO command loads and activates the specified programme. It is a combination of the MEMORY LOAD
and PROGRAM ACTIVATE commands.
If a holdable programme is already active on an arm and one of the programmes has the DETACH attribute
specified, a prompt is shown asking whether two or more programmes should stay active on the same arm. If
a holdable programme is still active and the DETACH attribute is not specified, a message is displayed say-
ing that the arm is already “ATTACHed”.
If the programme is already active a prompt will ask if deactivation is required.
If the programme is already loaded and the .COD file is newer than the loaded version, a warning message
will be displayed along with a question asking the operator if the newer version is to be loaded. If the answer
is no, the programme will not be loaded again before activation. The asterisk cannot be used. The command
cannot be used when memory, system or programme protection is on or if the controller is in FATAL status.
The first motion of a programme is executed at reduced speed if the programme was activated by the user or
by a holdable programme issuing the PROGRAM GO command. Also the motion executed after pressing
CTRL C (^C) or moving the cursor in MEMORY DEBUG will be executed at reduced speed. The reduced
speed for safety feature can be disabled by setting flags in the $PROG_CNFG predefined variable. To de-
termine if a motion is running at reduced speed use the $SAFE_ENBL predefined variable.
If the programme will not load because of a file data corruption error, recover a backup copy or use the
FILER PRINT command to convert the file into an ASCII file. For further information about this procedure, re-
fer to the FILER PRINT command.
The following options, with the exception of Update, can be used to activate the programme with a different step
mode than the default mode. Refer to the PROGRAM TEST STEP command.
The UPDATE option disables the question to the user, if the programme to be activated is already loaded
and/or active in the memory. The programme will be deactivated automatically and the newer version will be
loaded in the memory and activated.
OPERATOR INTERFACE C3G
Plus
3-44 07/1200
PROGRAM
COMMAND