ABB OmniCore S Series, Operating Manual

Page: 157 / 236

Example of backward execution
The following example illustrates the behavior when stepping backwards through
move instructions. The program pointer and motion pointer helps you keep track
of where the RAPID execution is and where the robot is.
MoveL
,
MoveJ
, and
MoveC
are move instructions in RAPID, see Technical reference
manual - RAPID Instructions, Functions and Data types .
then... When...
the motion pointer will indicate p50 and the program pointer will in-
dicate the next move instruction (
MoveL p60
).
stepping forward until
the robot is in p50
the robot will not move but the program pointer will move to the
previous instruction (
MoveC p30, p40
). This indicates that this is
the instruction that will be executed the next time Backward is
pressed.
pressing the Back-
ward button once
the robot will move to p40 linearly with the speed v1000. pressing the Back-
ward button again
The target for this movement (p40) is taken from the
MoveC
instruc-
tion. The type of movement (linear) and the speed are taken from
the instruction below (
MoveL p50
).
The motion pointer will indicate p40 and the program pointer will
move up to
MoveL p20
.
the robot will move circularly, through p30, to p20 with the speed
v1000. pressing the Back-
ward button again
The target p20 is taken from the instruction
MoveL p20
. The type
of movement (circular), the circular point (p30) and the speed are
taken from the
MoveC
instruction.
The motion pointer will indicate p40 and the program pointer will
move up to
MoveL p10
.
the robot will move linearly to p10 with the speed v1000. pressing the Back-
ward button again
The motion pointer will indicate p10 and the program pointer will
move up to
MoveJ p10
.
Continues on next page
Operating manual - OmniCore 157
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.9.4 Stepping instruction by instruction
Continued