ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.2 Using RAPID programs
Using the RAPID program
This procedure describes the main steps required in creating, saving, editing and
debugging any RAPID program.
Note that there is more information available, than the one referred to in the
procedure.
Information Action
How to create a RAPID program is detailed
in section
Handling of programs on
page 150 .
Start by creating a RAPID program. 1
Proceed as detailed in section Handling of
instructions on page 162 .
Edit your program. 2
How to view, add, or delete a module is
detailed in section
Handling of modules on
page 153 .
To simplify programming and keep an
overview of the program, you may want to
divide the program into more than one
module. 3
How to add or delete a routine is detailed
in section
Handling of routines on page 157 .
To further simplify programming, you may
want to divide the module into more than
one routine. 4
Also read the following sections:
• Creating a tool on page 177 .
• Creating a work object on page 192 .
• Creating a payload on page 200 .
When programming you may want to work
with:
• Tools
• Work objects
• Payloads
5
Error handlers are described in the RAPID
manuals.
In order to deal with potential errors that
may occur during program execution, you
may want to create an error handler. 6
Proceed as detailed in section Testing on
page 206 .
After completing the actual RAPID pro-
gram, it will require testing before being
put into production. 7
How to modify positions while the program
is running is described in section
HotEdit
menu on page 54 .
After test running your RAPID program, it
may require altering. You may want to
modify, or tune, programmed positions,
the TCP positions, or paths. 8
How to modify positions in manual mode
is described in section
Modifying positions
in the Program Editor or Production Win-
dow on page 264
.
Programs that are no longer required may
be removed. 9
Running the program
This procedure specifies how to use an existing RAPID program.
Information Action
Described in section Starting programs on
page 241 .
Load an existing program. 1
Described in section Quickset menu, Run
Mode on page 85 .
When starting program execution, you may
choose between running the program once,
or running it continuously. 2
Continues on next page
148 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.2 Using RAPID programs