ABB OmniCore S Series, Operating Manual

Page: 106 / 236

6.3.5 Example: Add movement instructions
Overview
In this example you will create a simple program that makes the robot move in a
square. You need four movement instructions to complete this program.
A
C
B
First point A
Robot movement Speed data v50 = speed 50mm/s B
Zone z50 = (50mm) C
Add movement instructions
Use the following procedure to write a simple program that makes the robot move
in a square:
1 On the start screen, tap Code , and then select Modules from the menu.
2 Open a module.
3 Jog the robot to the first point.
4 Tap Add Instruction .
5 Tap MoveL .
6 Tap Add .
7 Repeat the steps 4 to 7 and add the other three positions of the square.
The MoveL instructions for the selected points are added.
Note
For the first and last instruction, select the instruction and tap Edit
Instruction . Then change the Zone to
Fine
.
8 Tap Apply .
The program is saved.
Result
Your program code should look like this:
Proc main()
MoveL *, v50, fine, tool0;
MoveL *, v50, z50, tool0;
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106 Operating manual - OmniCore
3HAC065036-001 Revision: E
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6 Programming and testing
6.3.5 Example: Add movement instructions