Programming Card

The Programming Card displays or allows the user to edit the program tree, manage the program files, etc.

Serial number	Name	Description
1	Program manager tool bar	Manage program files.
2	Program tree tool bar	Edit the node in the program tree.
3	Search box	Enter a keyword to search for nodes in the program tree.
4	Program tree	Display or edit programs.

Program manager tool bar

Serial number	Name	Description
1	Edit	Show/hide the program tree tool bar.
2	Search	Show/hide the search box, in which a keyword can be entered to search for nodes in the program tree.
3	New	Create a new program file.
4	Open	Open the program file.
5	Save	Save the program file.
6	Program name	Display the name of the current program file. Click the program name to view the name of the profile associated with the current program file.

Tip

1. If you use the I/O interface or the Start/Stop button on the control handle to control the start/stop of the program, please save the program file first. Otherwise, the program cannot be started. For detailed I/O function settings, please refer to I/O Configuration. For the operation of the control handle, see the Hardware User Manual.
2. After a program is written, if the associated configuration file is modified, it is required to save the configuration file first and then the program file. Otherwise, a program runtime error may occur.

Program tree

• Graphically programmed commands are added to the program tree, which can be called "program nodes," or "nodes" for short. Some nodes may contain other nodes, for example, the [Move] node, which can contain the [Waypoint] node. Such nodes can be called "program blocks". In other words, a program block is composed of multiple program nodes.

  • Folding/unfolding a program block
    • Click or before the program block to expand it or make it collapse. -Double-click the program block name to unfold/fold this program block. (Recommended)
    • Click or to expand all program blocks in the program tree or make them collapse.

• Initial variables: the first value assigned to the program variables when the program is started. The [Init Variables] node is added by default before the master program. In the [Init Variables] command page ([Init Variables] for short), click the [Variables] dropdown box, select initial variables, and click the expression input box to assign the initial variables a value.

  • Last-Run Value: when this is checked, the value of the initial variables is replaced with the value of the initial variables when the program is stopped. If a new program is loaded after the current program pauses, the value of the initial variables when the current program was stopped cannot be used and will be reset to the user setting.

Tip

To use this function normally, you are required to create a variable first. If you do not set the initial variables, the master program runs directly.

• When the node in the program tree does not conform to the preset logic, the system will highlight associated nodes in yellow. When the node is configured in accordance with the preset logic, the system displays the node in black normally.

• Breakpoint: To add a breakpoint to a line in the program tree, click the Line No. The newly set breakpoint is displayed in a darker color. After running to this line, the program will pause directly. At this time, click [Step] in the menu bar. Each time you click it, the program will run for one line to realize single-line running.

  

Legend for program tree tool bar

Icon	Description
	Up, move a node upward.
	Down, move a node downward.
	Undo, undo changes to the command.
	Redo, redo changes to the command.
	Cut, cut a node, and allow it to be pasted elsewhere in the program tree.
	Copy, copy a node and allow it to be pasted elsewhere in the program tree.
	Paste, paste a cut or copied node.
	Delete, delete a node.
	Inhibit, inhibit a node. The program will directly skip the inhibited node during running. An inhibited node can also be released from inhibition. [Inhibit] allows one to quickly change a program without destroying the original content.
	Unfold all nodes.
	Fold all nodes.
	Full screen: Display the program tree in full screen. Restore, restore the program tree to default display.
	View scripts. View graphical program.