ABB IRC5 with FlexPendant, Operating Manual

Page: 192 / 306

5.6.2 Creating a work object
What happens when I create a work object?
A variable of the type
wobjdata
is created. The variable’s name will be the name
of the work object. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
This is detailed in section What is a work object? on page 191 .
Creating a work object
The work object’s coordinate system is now identical with the world coordinate
system. To define the position and orientation of the work object’s coordinate
system, see
Editing the work object declaration on page 198 .
Action
On the ABB menu, tap Jogging . 1
Tap Work Object to display the list of available work objects. 2
Tap New... to create a new work object. 3
Tap OK . 4
Work object declaration settings
Recommendation then... If you want to change...
Work objects are automatic-
ally named
wobj
followed by
a running number, for ex-
ample
wobj10
,
wobj27
.
You should change this to
something more descriptive.
If you change the name of a
work object after it is refer-
enced in any program you
must also change all occur-
rences of that work object.
tap the ... button next to it the work object’s name
Work objects should always
be global to be available to all
modules in the program.
select the scope of choice
from the menu the scope
Work object variables must
always be persistent.
- the storage type
select the module in which
this work object should be
declared from the menu the module
192 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.6.2 Creating a work object