ABB IRC5 with FlexPendant, Operating Manual

Page: 263 / 306

6.4 Modifying positions
6.4.1 Modifying and tuning positions
Overview
Positions are instances of the data type robtarget or jointtarget. See Technical
reference manual - RAPID Instructions, Functions and Data types .
The positions can be tuned using the function HotEdit, where you enter offset
values using a soft keyboard.The offset value is used together with the original
position value. See
Tuning positions with HotEdit on page 268 . The HotEdit menu
is described in section HotEdit menu on page 54 .
The positions can also be modified using the Modify positions function in the
Program Editor or the Production Window where you step and jog the robot to
the new position. A modified position value overwrites the original value. See
Modifying positions in the Program Editor or Production Window on page 264 .
CAUTION
Changing programmed positions may significantly alter the robot’s movement
pattern.
Always make sure any changes are safe for both equipment and personnel.
Positions in arrays
If a position is declared as an array, then the procedure for modifying or tuning
may differ slightly depending on how the array is indexed in the move instruction.
Limitations
Note that jointtargets can only be modified using the Modify positions method in
the
Program Editor and the Production Window , i.e. not with HotEdit.
Note
Your system can have restrictions on how positions can be modified. Restrictions
can apply to distance using system parameters (topic
Controller , type ModPos
Settings ) and which positions can be modified using UAS.
Operating manual - IRC5 with FlexPendant 263
3HAC050941-001 Revision: G
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6.4.1 Modifying and tuning positions