ABB IRC5 with FlexPendant, Operating Manual

Page: 267 / 306

In both examples, when restarting the program the robot continues from the new
P10 (that is now the same as P10x) directly to P20 without returning to the previous
planned path (via the old P10).
Circular movement
In this example the robot is stopped on path in position P20 (circle point) and then
jogged to the new position P20x. The position P20 is modified.
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In single robot systems or MultiMove systems in unsynchronized mode: When
restarting the program the robot continues directly from the new P20 (that is now
the same as P20x) to P30 without returning to the previous planned path (via the
old P20). The new planned path from P20 (P20x) to P30 is calculated using these
two positions and position P10.
In MultiMove synchronized mode: When restarting the program the robot returns
to the old P20 and uses the previously planned path to P30. In the next cycle only
the new P20 (P20x) is used.
Operating manual - IRC5 with FlexPendant 267
3HAC050941-001 Revision: G
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6 Running in production
6.4.2 Modifying positions in the Program Editor or Production Window
Continued