Which mode is recommended to test a program for the first time?

STEP mode is indeed the recommended mode for testing a program for the first time due to its ability to execute the program incrementally, one instruction at a time. This method allows operators to closely monitor the robot's actions and verify that each step is functioning correctly before moving on to the next. It minimizes the risk of errors and allows for immediate corrections if something does not perform as intended.

Additionally, using STEP mode provides an opportunity to observe the robot's response in real-time, which can offer insights into the program's logic and flow. If there are any issues or unexpected behaviors, they can be diagnosed and rectified immediately rather than after executing a full run, which could lead to potential complications or hazards.

In contrast, RUN mode executes the entire program without pauses, which can be risky for first-time testing. DEBUG mode is useful for identifying and rectifying logical errors but may not provide the hands-on control that STEP mode offers. EXECUTE mode may imply execution without the same detailed observation and intervention flexibility. Therefore, STEP mode is the favored approach for first-time program testing.