ABB IRC5 with FlexPendant, Operating Manual

Page: 254 / 306

6.2.2 Returning the robot to the path
About paths and return regions
While a program is running, the robot or additional axis is considered to be on
path , which means that it follows the desired sequence of positions.
If you stop the program the robot is still on path, unless you change its position.
It is then considered to be
off path . If the robot is stopped by an emergency or
safety stop it may also be off path.
If the stopped robot is within the path return region you can start the program again,
and the robot will return to the path and continue program execution.
Note that there is no way to predict the exact return movement for the robot.
Tip
The path return region is set with system parameters. This is described in the
Technical reference manual - System parameters , type Path Return Region .
Returning to path
Turning off the power to the robot motors often results in the robot slipping from
its programmed path. This may occur after an uncontrolled emergency or safety
stop. The allowed slip distance is configured with system parameters. The distance
can be different depending on operating mode.
If the robot is not within the configured allowed distance, you may choose to let
the robot return to the programmed path or continue to the next programmed point
in the path. Then the program execution continues automatically in programmed
speed.
For more information see Technical reference manual - System parameters , section
Topic Controller - Type Path Return Region .
Action
Make sure there are no obstacles blocking the way and that payload and work objects
are properly placed. 1
If necessary, put the system in automatic mode and press the Motors on button on
the controller to activate the robot motors. 2
Press the Start button on the FlexPendant to continue execution from where it stopped.
One of these things will happen:
• The robot or axis will slowly return to the path and execution will continue.
• The Regain Request dialog will be displayed.
3
If the Regain Request dialog is displayed, select the proper action. 4
Select action
then tap... If you...
Yes want to return to the path and continue the
program
No want to return to the next target position and
continue the program
Continues on next page
254 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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6.2.2 Returning the robot to the path