Setting up user key macro command assignment on teach pendant

This procedure will help you create a one key press action. For example, let’s say you want to open or close a gripper by pressing a key on the teach pendant. Here’s how to do it.

You will find a downloadable PDF version at the end of this page.

SETTING THE MACRO COMMAND

1. PRESS –> [ SELECT ]
2. PRESS –> [ F2 ] CREATE
3. Using arrows, SCROLL DOWN to –> Upper case
4. Using F1 to F5 keys, Enter program name « Gripper » (see screenshot)
5. PRESS –> [ ENTER ] 
6. PRESS –> [ F2 ] DETAIL
7. Using Arrow –> Scroll down to “Sub type:”
8. PRESS –> [ F4 ] CHOICE
9. SELECT –> [ 3 ] 3 Macro (see screenshot)
10. PRESS –> [ ENTER ] 
11. Using Arrow –> Scroll down to “Group Mask:” (see screenshot)
12. PRESS –> [ F5 ] *
13. PRESS –> [ F1 ] END
14. PRESS –> [ F1 ] [ INST ] (if you don’t have [INST], PRESS –> [NEXT])
15. SELECT –> [ 3 ] 3 IF/SELECT
16. SELECT –> [ 8 ] 8 –next page–
17. SELECT –> [ 1 ] 1 IF (…) THEN (see screenshot)
18. SELECT –> [ 3 ] 3 DO[ ] (see screenshot)
19. ENTER –> 10
20. PRESS –> [ ENTER ]
21. PRESS –> [ F1 ]
22. SELECT –> [ 2 ] 2 AND (see screenshot)
23. SELECT –> [ 3 ] 3 DO
24. ENTER –> 11 (see screenshot)
25. PRESS –> [ ENTER ]
26. Using Arrow –> Move cursor to left to highlight DO [11]
27. PRESS –> [ F5 ] !
28. Using Arrow –> Scroll down one line.
29. PRESS –> [ F1 ] [INST]
30. SELECT –> [ 2 ] [ I/O ] (see screenshot)
31. SELECT –> [ 1 ] DO[ ]=… (see screenshot)
32. ENTER –> 10
33. PRESS –> [ ENTER ]
34. SELECT –> [ 2 ] 2 OFF (see screenshot)
35. Using Arrow –> Scroll down one line.
36. PRESS –> [ F1 ] [INST]
37. SELECT –> [ 2 ] [I/O]
38. SELECT –> [ 1 ] DO[ ]=…
39. ENTER –> 11
40. PRESS –> [ ENTER ]
41. SELECT –> [ 1 ] ON (see screenshot)
42. PRESS –> [ F1 ] [ INST ] (if you don’t have [INST], PRESS –> [NEXT])
43. SELECT –> [ 3 ] 3 IF/SELECT
44. SELECT –> [ 8 ] 8 –next page–
45. SELECT –> [ 2 ] 2 ELSE (see screenshot)
46. Using Arrow –> Scroll down one line.
47. PRESS –> [ F1 ] [ INST ]
48. SELECT –> [ 2 ] [I/O]
49. SELECT –> [ 1 ] DO[ ]=…
50. ENTER –> 11
51. PRESS –> [ ENTER ]
52. SELECT –> [ 2 ] 2 OFF
53. Using Arrow –> Scroll down one line.
54. PRESS –> [ F1 ] [ INST ]
55. SELECT –> [ 2 ] [I/O]
56. SELECT –> [ 1 ] DO[ ]=…
57. ENTER –> 10
58. PRESS –> [ ENTER ]
59. SELECT –> [ 1 ] 1 ON (see screenshot)
60. PRESS –> [ F1 ] [ INST ] (if you don’t have [INST], PRESS –> [NEXT])
61. SELECT –> [ 3 ] 3 IF/SELECT
62. SELECT –> [ 8 ] 8 –next page–
63. SELECT –> [ 3 ] 3 ENDIF (see screenshot)

SETTING THE USER KEY

1. PRESS –> [ MENU ]
2. SELECT –> [ 6 ] 6 SETUP
3. SELECT –> [ 6 ] 6 MACRO (see screenshot) 
4. Using Arrow –> Scroll down to an empty line.
5. PRESS –> [ ENTER ] (see screenshot)
6. Using Arrows, SCROLL DOWN to –> Upper case
   
7. With F1 to F5 keys, enter the name  –> « Gripper » (see screenshot)
8. PRESS –> [ ENTER ]
9. Using Arrow –> Move cursor right to “Program” column.
10. PRESS –> [ F4] [CHOICE]
11. PRESS –> [ F2] MACRO
12. Using Arrow –> Scroll down to “GRIPPER”.
13. PRESS –> [ ENTER ]
14. Using Arrow –> Move cursor right.
15. PRESS –> [ F4] [CHOICE]
16. PRESS –> [ 2 ] 2 UK (For User Key) (see screenshot)
17. Using Arrow –> Move cursor right to “Assign” column.
18. ENTER –> [1] (number 1 is selecting TOOL 1 key of the teach pendant.) (see screenshot)

CHECKING USER KEY SET UP

1. PRESS –> [ I / O ]
2. PRESS –> [ TOOL 1 ] (Each pressing of TOOL 1 key will alternate the state ON or OFF of DO[10: Gripper open] and DO[11:Gripper Close]) 
3. Usable Macro Keys :

Tutorial – Setting up user key macro command assignment on teach pendant.pdf