ABB OmniCore S Series, Operating Manual

Page: 109 / 236

6.4 Debugging the program
Introduction
The Debug option allows you to navigate through a RAPID program for
understanding the execution flow, viewing the values of a data instance, and to
run the routines.
Moving the pointers
The pointers helps you to navigate through a program. For more information about
pointers, see
Program and motion pointers on page 108 .
The following table provides the description of the options available under Debug
in Code Editor for the movement of pointers:
Description Pointer position
Moves the program pointer to main PP to Main
Moves the program pointer to cursor. PP to Cursor
Moves the program pointer to routine. PP to Routine
Moves the cursor to program pointer. Cursor to PP
Moves the cursor to motion pointer. Cursor to MP
Moving the robot
While navigating through the program you may need to move the robot to a
particular programed position. The
Go To Position option allows you to move the
robot to a programed position.
DANGER
When moving the robot automatically, the robot arm may move without warning.
Make sure no personnel are in safeguarded space and that no objects are in the
way between the current position and the programmed position.
Use the following procedure to move the robot to a particular programed position:
1 On the program select a programmed position.
2 Tap Debug .
3 Tap Go To Position .
The Go to position window is displayed.
4 Press and hold the three-position enabling device and then tap and hold the
Press and hold to Go To button.
The robot is moved from the current position to the selected programmed
position.
Note
For collaborative robots, after selecting a programmed position, you need to just
press and hold the
Press and hold to Go To button to move the robot.
Continues on next page
Operating manual - OmniCore 109
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.4 Debugging the program