ABB IRC5 with FlexPendant, Operating Manual

Page: 217 / 306

5.9 Service routines
5.9.1 Running a service routine
Service routines
Service routines perform a number of common services. Which service routines
are available depends on your system setup and available options. Please refer
to your plant or cell documentation for more information.
Prerequisites
Service routines can only be started in manual reduced speed mode or in manual
full speed mode.
The program must be stopped and there has to be a program pointer.
It is not possible to call a routine when in synchronized mode.
If the service routine contains parts that must be carried out in automatic mode,
then the program pointer must not be moved manually before starting the service
routine. The program pointer should be where the program flow was stopped.
WARNING
If a service routine is started in the middle of a stopped movement instruction
(that is, before the end position is reached), then the movement will be resumed
when the execution of the service routine starts.
CAUTION
Note that once a service routine has started, aborting it might not resume the
system to its previous state, as the routine may have moved the robot arm.
Running a service routine
This section describes how to execute a service routine or another routine in the
task scope using
Call Routine .
Action
On the ABB menu tap Program Editor . 1
Continues on next page
Operating manual - IRC5 with FlexPendant 217
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.9.1 Running a service routine