ABB IRC5 with FlexPendant, Operating Manual

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Action
The names of the positions and the module is displayed in the Save dialog, tap OK . 4
How to load defined positions
In some cases it is not practical or possible to use the robot to define the positions.
Then the positions can be defined or calculated elsewhere and loaded to the
Work
Object Frame Definition dialog.
Positions from any program module can be can be loaded, but is recommended
to use the module from the
Save Modified Points dialog with predefined position
names given by the controller.
CAUTION
Make sure that the correct tool and work object is activated in the Work Object
Frame Definition dialog before loading any positions.
Action
In the Work Object Frame Definition dialog, tap Positions and Load . 1
Tap the module that holds the calibration points, tap OK . 2
If the controller finds all or any predefined positions in the module, the positions are
automatically loaded to the correct user or object point. 3
In the Load dialog, tap OK .
If some positions are missing or do not have the correct names, the controller cannot
load the positions automatically so the user is asked to match the positions manually. 4
Tap each point in the list to assign the positions manually from the drop down list. Tap
OK .
If necessary, use Modify Position to define any remaining points that could not be
loaded.
5
196 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.6.3 Defining the work object coordinate system
Continued