9/23/02 Program Flow Chart User Hits Key Setup Key Product Key Product Program Direct Robot Programming Area Perimeters Hopper Position Assembly Area Position

9/23/02 Robot Programming Programming Key Hit ‘Esc’ Key Resets 68HC11 ‘Z’ Key Virtual Teaching Pendant Direct Robot Control Error Checking

9/23/02 Error Checking Error Light Limit Error Program Error Activate Relay Send ‘RS’ Command Return to Previous Command Mode

9/23/02 User Interface Push button keypad LCD display

9/23/02 Schedule