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7 PROGRAMMING A ROBOT WITH IRC
Figure 14: The context menu of a command
The program editor prevents invalid commands that would break the structure of the program. If
moving a command up or down is not possible, the corresponding buttons and menu items are
grayed out.
7.1.2 Touching Up Positions
Certain commands require position values as parameters. It is often desirable to use the current
position of the robot. Entering it by hand can take some time and is prone to errors. For such cases
you can use the command "Touch Up":
• Select the command and click "Touch Up!" from the "Edit" menu.
• Select the command and then press Ctrl+T.
• Open the context menu by right-clicking on the command and click on "Touch Up!" (see Fig.
14).
The program editor then replaces the position values in the command with the current position of
the robot.
7.1.3 Set Start Command
It is possible to execute programs command by command or to select a specific command as the
starting point of a program for test purposes. The command that will be executed first the next time
the program is started, or - if the program is currently running - the currently executed command is
marked by a dot in the program editor. The subprogram containing this command is also marked by
a dot in front of the program name.
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