ABB IRC5 with FlexPendant, Operating Manual

Page: 215 / 306

Example of backward execution
The following example illustrates the behavior when stepping backwards through
move instructions. The program pointer and motion pointer helps you keep track
of where the RAPID execution is and where the robot is.
MoveL
,
MoveJ
, and
MoveC
are move instructions in RAPID, see Technical reference
manual - RAPID Instructions, Functions and Data types .
en0400001204
Program pointer A
Motion pointer B
Highlighting of the robtarget that the robot is moving towards, or already has
reached. C
then... When...
the motion pointer will indicate p50 and the program pointer will in-
dicate the next move instruction (
MoveL p60
).
stepping forward until
the robot is in p50
the robot will not move but the program pointer will move to the
previous instruction (
MoveC p30, p40
). This indicates that this is
the instruction that will be executed the next time Backward is
pressed.
pressing the Back-
ward button once
the robot will move to p40 linearly with the speed v300. pressing the Back-
ward button again
The target for this movement (p40) is taken from the
MoveC
instruc-
tion. The type of movement (linear) and the speed are taken from
the instruction below (
MoveL p50
).
The motion pointer will indicate p40 and the program pointer will
move up to
MoveL p20
.
Continues on next page
Operating manual - IRC5 with FlexPendant 215
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.8.6 Stepping instruction by instruction
Continued