Teach Pendant

Programming
IE104L (CIM LABORATORY)
 section 5:
teaching points Describe the function and
operation of a robot program.

Describe how position points are

recorded in a robot’s memory.

OBJECTIVES:  Learn to use a Teach Pendant to teach

Robot Position Points
THE FUNCTION
AND
OPERATION OF A
ROBOT
PROGRAM
Robot Program
- the information stored in a robot controller’s
memory that causes the robot to perform a series
Basic Pick and Place Robot Application
of steps automatically. An example of a typical
task a robot might be programmed to perform is
shown:
 To perform a task, the robot will need a program.  Robot
programs are made of two types of data files:

1. Program Sequence File

- contains the commands used to create the robot’s sequence of operation

SEQUENCE OF OPERATION: PROGRAM SEQUENCE FILE

STEP OPERATION
1 Robot moves to point 2
2 Robot moves to point 1
3 Robot grasps part
4 Robot moves to point 2 to clear fixture A
5 Robot moves to point 3 to position over fixture B
6 Robot moves to point 4 to lower the part into fixture B
7 Robot releases part.

*For Basic Pick and Place Robot Application

 To perform a task, the robot will need a program.  Robot
programs are made of two types of data files:

2. Points File
In addition to the sequence file, the robot program also needs to know the location of each point to which it
will move. The Points file stores the location of each point by storing each encoder value in memory.

ROBOT POINTS DATA FILE:

Teaching Points
- the method of placing these encoder values in the Points file 
 TEACHING - Points are
recorded in the robot’s
USE A TEACH PENDANT TO TEACH ROBOT POSITION POINTS
memory through this
process

Procedures to record points in the memory by teaching the robot

1.  Complete Start up the robot.

2. Press [F3] TCH from the main menu to display the Teach menu. The teach pendant
display as shown below should appear. Notice that the upper line of the display shows that
you are set to teach point 1.
Procedures to record points in the memory by teaching the robot

3.  Press the [JOG] key to turn the Jog function on.

4.  Jog the robot to your desired teaching position. This will be your Point 1.
5. Press [F1] TCH to teach Point 1.
The robot will record the current encoder values for Point 1. The point
number displayed on the teach pendant will then increase by one as
shown beside. You can now teach the robot Point 2.
Procedures to record points in the memory by teaching the robot

6.  Jog the robot again to your next desired teaching position.

7. Press [F1] TCH again to teach Point 2.
8. Repeat the steps if you need to record more teaching position.
 MOV Funtion - a teach
pendant function used to

TEST TEACH POINTS move the robot to each of

the teach points

Procedures to test your teaching points

1.  Once finished on all the teaching points, press [JOG] to turn the Jog function off
then press [EXEC] to go back to the Main menu.
2. Press [F3] TCH from the Main menu to display the Teach menu. The teach pendant
will display the screen shown below.
Procedures to test your teaching points
3. Press [F4] MOV. The teach pendant will display:

4. Press [1] and then press [ENTER]. The robot should then move to Point 1.

5. Press [F4] MOV again.
6. Press [2] and then press [ENTER]. The robot should now move to Point 2.
While the robot is moving, all the axes move at the same time and then stop at the same time when the robot
reaches the taught point. This demonstrates the ability of the robot to coordinate its motion.

7. Repeat the steps to test the other recorded teaching points.

Procedures to test Point 0

1. Press [F4] MOV.

2. Press [0] and then press [ENTER]. The robot will move to Point 0, which is the
home position.
 EDIT TEACH POINTS

Procedures to edit your teaching points

1.  From the Main menu, press [F3] TCH to display the teach menu. The display of
the teach pendant will show the following message:
Procedures to edit your teaching points

2. Press the [NEXT] key, located on the teach pendant, until the teaching point that
you have to edit is already displayed. For example, if you need to edit Point 3, press
the [NEXT] key twice so that Point 3 is displayed as follows:

- The [NEXT] key causes the next point to be shown on the display

4. Press the [JOG] key to enable the robot’s Jog function.

5. Jog the robot to the new position for Point 3.
Procedures to edit your teaching points

2. Press [F1] TCH to record this new position in the robot controller’s Point file for
Point 3.

NOTE: If you need to edit more teach points, you can use the [PREV] and [NEXT] keys to make the display
show any point you want to teach. he [PREV] key causes the display to show the previous point.

3. Repeat the steps on testing the teaching points to test the new teach points.
 Describe the operation of
section 6: the command: PMOVE
basic programming
 Describe the operation
of a robot program

Explain and demonstrate how to enter and edit a Servo

Robot Program, delete a Program File and run a Servo
Robot Program using a Teach Pendant

OBJECTIVES: Describe and demonstrate the operation of

the Commands: Label and Branch

Explain and demonstrate the four

ways to stop a Servo Robot
 THE OPERATION OF
THE COMMAND:
PMOVE
Manufacturing Control Language (MCL)
- the powerful programming language that the pegasus robot uses. This language includes a large number
of easy-to-use commands to make the robot perform a variety of tasks automatically.

PMOVE <number>
• This command stands for Point Move. It tells the robot to move to a previously taught point in the robot’s
work area. A point number is used with the PMOVE command to indicate the point that the robot will move
to during program execution.  
• An example is PMOVE 3.  When this command is executed, the robot will move to point 3.
• This is one of the most common and basic commands used in the MCL programming language
THE OPERATION
OF A ROBOT
PROGRAM
As you know from the previous section, a robot
program consists of a program sequence file and a
points file.  When the robot is placed in the Run mode,
the controller will read and perform each command in
the sequence file one at a time in the order listed
starting with line 001.  If the command calls for a
move to a point, as shown in figure 43 (i.e. PMOVE
1), the controller will look up in its point file the
encoder positions for point 1 and move the robot to Example of Typical Robot Program
that position.   Then the robot will execute the next
command.
 USE A TEACH PENDANT TO DELETE A PROGRAM FILE

Procedures to delete a program file using the teach pendant

1. Power up/Start up the robot.

2. Press [F2] PROG from the Main menu to enter the Program menu. You should see
the following message on the Teach Pendant display:
Procedures to delete a program file using the teach pendant
3. Press [F4] DEL to select the delete function. The teach pendant will prompt you to
enter a program file number by displaying:

4. Press [1] and then press [ENTER] to select Program 1 for deletion.  The teach

pendant will prompt you to confirm your decision by displaying:
Procedures to delete a program file using the teach pendant

5. Press [ENTER] again to complete the action. At this point the Teach Pendant

should display:

You have now deleted Program 1.

 USE A TEACH PENDANT TO ENTER A SERVO ROBOT PROGRAM THAT USES THE
PMOVE COMMAND

Procedure to enter short sequence file using the teach pendant

1. As an example, perform the following substeps to enter the following sequence file.

LINE # COMMAND
001 PMOVE 3
002 PMOVE 1
003 PMOVE 3
004 PMOVE 2
Procedure to enter short sequence file using the teach pendant

A. Press [F2] PROG from the Main menu. The program menu will appear displaying
options that will allow you to edit, load, save, and delete a program file.

B. Press [F2] LOAD to select the load function from the Program menu. The teach pendant
display will prompt you to enter a file # by displaying:
Procedure to enter short sequence file using the teach pendant

C. Press [1] and then press [ENTER] to load Program 1. The teach pendant will indicate
that Program 1 is loaded by displaying:

D. Press [Fl] ED to enter the Edit menu. The teach pendant will display the Edit menu:

The lower line of the Edit menu shows four program commands you can select. Notice that the PMOVE command is shown abbreviated
as PMV.  All commands shown on the menu line of the display are shortened like this to fit them into the display
Procedure to enter short sequence file using the teach pendant

E. Press [Fl] PMV to enter the PMOVE command. The teach pendant will prompt you to
enter the point number by displaying:

F. Press [3] and then press [ENTER] to enter the point number 3. You have now entered the
command PMOVE 3 on line 1 of the program.  This will cause the robot to automatically
move to teach point 3 when the first line of the program is executed.
Procedure to enter short sequence file using the teach pendant

G. Press the [NEXT] key to move to the next program line. Notice how the line number on
the teach pendant display increases by one:

H. Press [Fl] PMV to enter the PMOVE command.

I. Press [1] and then press [ENTER] to enter line 2. This program line will cause the robot
to automatically move to Point 1.
J. Press the [NEXT] key to move to the next program line.
Procedure to enter short sequence file using the teach pendant

K. Press [Fl] PMV and then press [3] and [ENTER] to enter line 3 of the program. This

program line will cause the robot to automatically move to Point 3.

L. Press the [NEXT] key to move to the next line.

M. Press [Fl] PMV, [2] and then press [ENTER] to enter line 4. The program is now
entered.
Procedure to enter short sequence file using the teach pendant

N. Press [EXEC] to exit the edit menu and “compile” the program. Compiling the program
means that it is being made ready to run. The display on the teach pendant should show:

O. Press [ENTER] to return to the program menu. Your program has now been saved in the
memory of the robot controller as program 1.
 RUN A SERVO ROBOT PROGRAM USING A TEACH
PENDANT

Procedures to run a program using the teach pendant

1. From the Main menu, press [F4] RUN to enter the Run menu. The teach pendant
will display:

2. Press [F1] STR. The display shows the number of the last program stored in
memory, for example, Program 1:
Procedures to run a program using the teach pendant

3. Press [ENTER] to run Program 1.  

You will notice that the robot will start to move as line 1 of the sequence file is executed.   The robot will execute
each sequence step.  After executing the last command on the last line of the program, the robot will stop.   Also
notice the teach pendant display.  While the program is running, it should show you the following:

The top line of the display indicates that the controller is running program 1 and that the robot is working (ROBW).

4. Press [Fl] STR and then [ENTER] to run the program again. You should observe that the
robot repeats the program exactly.
5. When the program stops, press [EXEC] to return to the Main menu.
 USE A TEACH PENDANT TO EDIT A SERVO ROBOT
PROGRAM

Procedures to to edit a program using the teach pendant

1. From the Main menu, press [F2] PROG to view the program menu options.
2. Press [F2] LOAD to select the load option from the program menu.
3. Press the number of the program that you want to edit. For example, you want to
edit Program 1 so you need to press [1] and then [ENTER] to load Program 1 into the
controller’s memory. The display will return to the Program menu.
Procedures to to edit a program using the teach pendant

4. Press [F1] ED to select the edit submenu from the Program menu.  Line 1 of your
program should now be displayed as shown:

5. If what you need to edit is on the next lines of your program, press the [NEXT] key until
your desired program line is already displayed. For example, you need to edit Line 3 so you
have to press [NEXT] twice so that line 3 of your program is shown as follows:
Procedures to to edit a program using the teach pendant
FOR DELETING A PROGRAM:

1. Press the [SCROLL] key, located on the teach pendant, repeatedly until the following
edit menu appears on the display.  This menu includes the INS and DEL functions.

Notice that these are editing functions and not program commands. Each time you press [SCROLL] you will see a new set
of program commands. These are commands available for you to put in your program. A full list of these commands is in
your referenc e manual. The [SCROLL] key causes other menus in a particular grouping to be displayed.
Procedures to to edit a program using the teach pendant

FOR DELETING A PROGRAM:

2. Press [F2] DEL to delete the content of line 3. Pressing [F2] caused the content of line 3
to be deleted and the content of line 4 to move to line 3 as shown:
Procedures to to edit a program using the teach pendant
FOR INSERTING A NEW LINE INTO THE PROGRAM:
1. Go the your program line where you want to insert a new line. For example, you want to
insert a new line after your line 1. Since from the previous steps, you are on line 3 so you
have to press [PREV] twice so that line 1 of your program is displayed as shown:

2. Press [F1] INS.The display changes as follows:

- The command on line 001 has been moved to line 002 leaving space for a program
command to be inserted.
Procedures to to edit a program using the teach pendant

FOR INSERTING A NEW LINE INTO THE PROGRAM:

3. Press [-] key, located on the teach pendant, repeatedly until the following set of
commands appear on the display:

*The [-] key causes the menu to scroll backwards.

4. Press [F1] PMV and then press [1].

Procedures to to edit a program using the teach pendant

FOR INSERTING A NEW LINE INTO THE PROGRAM:

5. Press [ENTER] to complete your entry.  The display now shows:

For this example, your original program has now been edited to appear as follows:
LINE # COMMAND
001 PMOVE 1
002 PMOVE 3
003 PMOVE 1
004 PMOVE 2
Procedures to to edit a program using the teach pendant

FOR  USING THE LIN# FUNCTION TO GO TO A LINE

Sometimes it is more convenient to use the LIN# function instead of the [NEXT] or [PREV] keys to move to a particular
line, especially if you have a long program. The line function allows you to enter the line number that you want to edit.
For example; if you are on line 004 of your program and you know that you want to edit line 001, you could do so by
using the LIN# function instead of the [PREV] key to get to line 001. This function is located in the program menu next to
the DEL function.

1. Press [F3] LIN#. The teach pendant will prompt you to enter a line number by

displaying:
Procedures to to edit a program using the teach pendant

FOR  USING THE LIN# FUNCTION TO GO TO A LINE

2. Press the number of the line that you want to go to. For example, press [4]  and
then [ENTER] to enter line number 4. The display shows:

You have now moved the display to line 004 using the LIN# function.

NOTE: Because you have edited your program, the robot’s controller has
to recompile the program.

Press [EXEC] to compile your program and then press [ENTER].

THE OPERATION OF
THE COMMANDS:
LABEL AND BRANCH
LABEL <number>
This is a command that is used to mark a position in the program.  It is
a reference point to which the program can go back. Since you can
have more than one label you need to identify these labels so that the
controller does not get confused. For example: if you have two labels in
your program you can call them LABEL 1 and LABEL 2.

BRANCH <number>
This is a command that is used to cause the program to jump over part of the
instructions or repeat a set of instructions, as necessary.  The instructions that
we want the program to repeat must be preceded by a LABEL and a number.
Then using the BRANCH command you can tell the controller what label to
branch to. For example: a BRANCH 2 command will cause the program to
jump to LABEL 2 and start to execute the instruction from that point on.
This program has 2 lines added to it: a LABEL command inserted in line 001 and
a BRANCH command added in line 006. When you run this program the
BRANCH 1 command on line 006 will cause the program to jump to LABEL 1
on line 001. The part of the program between the BRANCH and LABEL will
then execute continuously
THIS EXAMPLE WILL BE PERFORMED ON THE PROCEDURES ON THE
NEXT SLIDE.
 USE A TEACH PENDANT TO ENTER THE COMMANDS: LABEL
AND BRANCH

Procedures to add the LABEL and BRANCH commands using the teach pendant

1. Press [F2] PROG from the Main menu to enter the Program menu then press  [F1] ED located
in the program menu. The teach pendant display should read:

2. Insert a blank line on line 001 so that the display appears as shown:
Procedures to add the LABEL and BRANCH commands using the teach pendant

3. Press [SCROLL] repeatedly until the following set of commands is displayed:

4. Press [Fl] LBL to enter the LABEL command. The teach pendant will display:

5. Press [1] and then [ENTER] to complete the label command. The teach pendant wil1
display:
Procedures to add the LABEL and BRANCH commands using the teach pendant

FOR USING THE BRANCH COMMAND

1. Press the [NEXT] key repeatedly until the display shows line 006. This line is at the end
of the program and it should be a blank line.

2. Press [F2] BRAN to enter the branch command.   The teach pendant will display:
Procedures to add the LABEL and BRANCH commands using the teach pendant

FOR USING THE BRANCH COMMAND

3. Press [1] and then [ENTER] to complete the branch command. The branch command is

now part of the program.

4. Press [EXEC] to compile the program then press [ENTER].

 • HALT [F3] key
Pressing [F3] HALT also results in an immediate interruption of the
robot in mid motion. The program stops, but the robot drives are not
disabled. This command is the normal method of exiting a program.

FOUR WAYS • PAUS [F2] key

TO STOP A Pressing [F2] PAUS stops the robot at the end of its current move
and pauses the program. Once pressed, the [F2] PAUS change its

SERVO
function (toggle) to RES for resume. Pressing [F2] will now restart
the program from the line it was stopped. This command is useful
for testing new programs because you can stop and start the robot

ROBOT
without leaving the Run mode.

• Emergency Stop Push Button • Break [BREAK] key

Pressing the Emergency Stop push button will immediately interrupt
The [BREAK] key acts the same as PAUS, but the robot stops in
the robot in the middle of an action.
mid motion. If [F2] RES is pressed, the robot will continue to move
to the point it was moving to before the [BREAK] key was pressed.
 STOP A SERVO ROBOT PROGRAM USING ANY ONE OF FOUR DIFFERENT
FUNCTIONS ON A TEACH PENDANT

Procedures to stop the robot program using the four methods

USING THE HALT [F3] KEY

1. With the robot still running, press [F3] HLT from the Run menu. The Pegasus should stop
immediately. Although the program stops, the robot’s drives should remain enabled. The Halt
command is the normal method of exiting a Pegasus robot program.  The Teach pendant should
then display:
Procedures to stop the robot program using the four methods
USING THE PAUS [F2] KEY

1. With the robot still running, press [F2] PAUS.The Pegasus robot will continue its current
move and then stop at the end of that move, as indicated by the Teach pendant display. You
should also notice that the [F2] key has toggled (changed) functions from PAUS to RES
(resume). The teach pendant will display the following message:

Pressing [F2] again will resume the program from the line at which it was stopped.
Procedures to stop the robot program using the four methods
USING THE BREAK [BREAK] KEY

1. With the robot still running, press the [BREAK] key. You should observe that the robot
stops in mid motion. The [BREAK] key is similar to the pause command. The difference is
the [BREAK] key causes the robot to stop immediately instead of waiting till the current
move is finished. Again, you should notice that the [F2] key has toggled to the RES
(resume) function.

To resume the robot, press [F2] RES. Notice that the robot continues to move to the point it
was moving to before the [BREAK] key was pressed.
Procedures to stop the robot program using the four methods

USING THE EMERGENCY STOP PUSH BUTTON

1. With the robot still running, Press the Emergency Stop pushbutton on the teach
pendant. This stops the robot immediately and disables the drives.

This is the most drastic way to stop the robot, but it is the safe way if there is a chance the robot is about to cause
damage to itself or something around it. The Emergency Stop pushbutton can also be used to stop the robot when
it is not running from a program but is still moving, such as during homing.

To restart the robot after the Emergency Stop pushbutton has been pressed, you will have to re-enable the
robot’s drives and start the program from the beginning. The teach pendant should now display:
Procedures to restart the robot after having pressed the Emergency Stop pushbutton

1. Press [ENTER].The teach pendant will display:

2. P ress [EXEC] to return to the Main menu The teach Pendant should display:

3. Press [F1] STA to go to the Startup menu.  The teach pendant should display:

Procedures to restart the robot after having pressed the Emergency Stop pushbutton

4.Press [F2] ENA to enable the robot’s drives. The teach pendant should display:

5. Press [Fl] HOME to home the robot. Only use the EMERGENCY STOP in case of
necessity.

6. Press [EXEC] to go to the Main menu.

7. Press [F4] RUN.
8. Press [Fl] STR.The display will show:

9. Press [ENTER] to run the program

 section 7:
END EFFECTOR AND
SPEED COMMANDS Describe and demonstrate the
operation of the program
commands: Grasp and Release

Describe and demonstrate the

OBJECTIVES:
operation of the program
commands: Speed and Delay.
THE OPERATION
OF THE PROGRAM
COMMANDS: GRAS
P AND RELEASE
GRASP
This command is used in a program to instruct the robot to close
the robot gripper. This command is similar to the manual function In this example the robot moves to a point, picks up an
[F3] CLOS on the teach pendant Teach menu. object, moves to a second point, and then releases the
object.
RELEASE
This command is used in a program to instruct the robot to open the
robot gripper. This command is similar to the manual function [F3]
OPEN on the Teach Pendant Teach menu.
 USE A TEACH PENDANT TO ENTER A SERVO ROBOT PROGRAM USING
THE GRASP AND RELEASE COMMANDS

Procedures to enter the GRASP and RELEASE commands

1. Power up/Start up the robot.
2. From the Main menu, press [F2] PROG key to enter the Program menu.
3. From the Program Menu press [F2] LOAD to select the load function.
4. Press [1] and then press [ENTER] to load Program 1.
5. Enter your desired command such as PMOVE 1 command and then press [NEXT].
6. Press the [F3] GRP to enter the GRASP or press [F4] REL for the RELEASE command.
7. Once you're done with your program, don't forget to compile it by pressing [EXEC].
 THE OPERATION OF THE
PROGRAM
COMMANDS: SPEED AND
• DELAY
SPEED • DELAY
<NUMBER>
This command sets the speed of the robot for all <NUMBER>
This command causes the program to pause
subsequent program move commands. The range is momentarily and thus stop the robot action. Its range
from 1 to 255. These numbers represent percentage is from 0 to 99,999. The units are 0.01 seconds. For
values of the maximum speed at which each axis can example, to delay the robot for 10 seconds, you
be moved. 255 correspond to 100% or full speed, and would enter the command DELAY 1000.
128 to approximately 50%.
 USE A TEACH PENDANT TO ENTER A SERVO ROBOT PROGRAM THAT
USES THE SPEED AND DELAY COMMANDS

Procedures to enter a program that includes the SPEED and DELAY commands

For this example, this program will be followed:

1. Enter line 1 of the program then press [NEXT].

Procedures to enter a program that includes the SPEED and DELAY commands

2. Press [SCROLL] until the display shows:

3. Press [F2] SPD to begin entering the speed command. The teach pendant prompts you to
enter a speed value by displaying:

4. Press [5] [0] and then press [ENTER] to enter a speed value of 50. The display shows:
NOTE: The line “Enter axis #” is a reference to the specific
external axis to which the speed you just have entered would
apply.
Procedures to enter a program that includes the SPEED and DELAY commands

5. Press [ENTER] to apply the speed you entered to the robot axes. The display shows:

6. Press [NEXT] to go to the next program line.

7. Enter lines 3 through 5 of the program.
8. Press [SCROLL] to display the set of commands shown below:
Procedures to enter a program that includes the SPEED and DELAY commands

9. Press [F1] DLY to begin entering the delay command. The teach pendant will prompt you
to enter the delay value by displaying:

10. Press [1] [0] [0] [0] and then [ENTER] to enter a delay of 1000. Because the units are
0.01 seconds this will cause the robot to delay for 10 seconds.  The display shows:

11. Enter line 7 of the program.

12.Compile the program and exit to the Main menu.
 Design and run a program that performs a
section 8: basic material-handling task.
material handling
Describe three applications of
robots in material handling.

Describe how multiple robot programs are

stored and retrieved in a robot controller.

OBJECTIVES:
Demonstrate the proper storing and
retrieving of multiple programs in
a robot controller.
 THREE APPLICATIONS OF
ROBOTS IN MATERIAL
HANDLING
Material handling is a process where objects are moved from one location to
another.

1.
Conveyor Transfer
Robots are often used to transfer
parts to or from a conveyor, as
shown:

New Hire Onboarding 09

2.
Machine Loading
Robots are used to load and unload all kinds of
machines including CNC mills, punches, CNC lathes,
drill presses, die casting, injection molding, presses,
or even laboratory test tube machines.
3.
Palletizing
This is a process where parts are placed in a carton for
transport. Putting bottles into a 6-pack carton is a
simple example of palletizing. Robots often load
cartons or “palletize” material in the factory. 
When using a robot in a factory you will often need to
have the robot pick up objects. It is important to
consider the path the robot will take from point to
point so that it does not hit an object or move in an
inefficient manner.
 HOW MULTIPLE PROGRAMS ARE STORED AND
RETRIEVED?
HOW MULTIPLE Multiple programs can be stored in the controller by entering each
ROBOT PROGRAMS program into the controller using the teach pendant and then giving
to each program a different number. Each program can be retrieved
ARE STORED AND by selecting the program to be run from a directory that is displayed

RETRIEVED IN A in the run menu.

ROBOT CONTROLLER
STORE MULTIPLE PROGRAMS
Most industrial robots, including the Pegasus, have the ability to
store multiple programs in their controller.  These programs are
stored as separate files and can be recalled independently, as
needed.  In the case of the Pegasus robot the point file is a separate
file and it is shared by any program that runs.
BATTERY BACK UP FEATURE
This feature of the pegasus robot allows the it to “remember” the
program and the point file that was loaded in its memory after the
controller power has been turned off. Many newer robots have this
feature, but not all.
 STORE AND RETRIEVE MULTIPLE PROGRAMS IN A ROBOT
CONTROLLER

Procedures to store programs in the controller’s memory at the same time and then select them to be run individually

1. Load and enter your desired programs. Do not forget to press  [EXEC] to compile and
store each program that you will enter as Program <number> (ex: Program 3).
2. Return to the Main menu.
3. Make sure to clear the robot’s work area of all objects.
4. To view a directory of the programs stored in memory, start by pressing [F4] RUN  to
enter the Run menu.
Procedures to store programs in the controller’s memory at the same time and then select them to be run individually

5. Press [F1] STR to enter the Start menu. The display will now show:
NOTE: The display is now showing the number of the
last program stored in memory. For this example, it is
Program 3.

6. Press [NEXT]  or [PREV] to view the other programs stored.

7. Press [ENTER] to run the Program.

The controller can hold (remember) programs even after the power is turned off. Just turn it back on, enable
the drives, home the robot and proceed to going to the Run menu. You should be able to view the programs
that you stored.