ABB OmniCore S Series, Operating Manual

Page: 103 / 236

6.3.4 Handling of instructions
Instructions
A RAPID program consists of instructions. An instruction can, for example, move
the robot, set an I/O signal, or display a message to the operator.
A large number of instructions are available, and these are listed in Technical
reference manual - RAPID Instructions, Functions and Data types . The basic
procedure for adding instructions are, however, identical.
Adding instructions
Use the following procedure to add instructions to a module:
1 On the start screen, tap Code , and then select Modules from the menu.
2 Open the module on which instruction needs to be added.
3 Tap on the location where the instruction needs to be inserted.
4 Tap Add Instruction .
The Add Instruction panel is displayed.
5 Select an instruction from Common or Groups tab according to your
requirement.
The selected instruction is displayed with its parameters.
6 Modify the instruction parameters according to requirement and tap Add .
The selected instruction is inserted after the selected location on the module.
7 Tap Check Program .
The validity of the program is verified.
Editing instructions
Use the following procedure to edit an instruction:
1 On the start screen, tap Code , and then select Modules from the menu.
2 Open the module on which instruction need to be edited.
3 Tap on the instruction that needs to be edited.
4 Tap Modify Instruction .
The selected instruction is displayed with its arguments.
5 Edit the instruction arguments.
Note
Tap Expression Editor to open and edit the selected instruction in
Expression Editor window.
6 Tap Apply .
The changes are updated in the selected instruction.
7 Tap Check Program .
The validity of the modified program is verified.
Continues on next page
Operating manual - OmniCore 103
3HAC065036-001 Revision: E
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6 Programming and testing
6.3.4 Handling of instructions