ABB OmniCore, Operating Manual

Page: 222 / 266

7.4.2 Teach position
Introduction
When modifying instructions it is possible to jog directly to a new position and
change the corresponding position argument of the instruction.
It is also possible to change the position values of the Program Data type
robtarget
.
Note
If a named position is modified, all the instructions using that position will be
affected.
Note
The maximum movement or change in orientation, may be restricted by the
system parameters (topic
Controller , type ModPos Settings ) in the system design.
Please read your cell or plant documentation for details.
Prerequisite
Following are the prerequisite for modifying a programmed position:
• the system must be in manual mode
• the target position must have an initial value. For example:
CONST robtarget
p10:=[[515.00,0.00,712.00],[0.707107,0,0.707107,0],[0,0,0,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST jointtarget
jpos10:=[[-0,-0,0,-0,-0,-0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
Note
The modified position values will normally be used when you restart the program.
If the robot cannot use the values directly at start, a warning is displayed. Then
the modified position will be used the next time than the position is used in the
program.
Procedure
Teach position from the Program Editor main window
When modifying instructions, use the following procedure to jog directly to a new
position and change the corresponding position argument of the instruction:
1 On the start screen, tap Code .
2 Tap the menu button and select Program Editor .
The RAPID program is displayed.
3 In the program click and select the position that needs to be updated.
4 Using joystick jog the robot to a new position.
Continues on next page
222 Operating manual - OmniCore
3HAC065036-001 Revision: J
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7.4.2 Teach position