ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.3.5 Example: Add movement instructions
Overview
In this example you will create a simple program that makes the robot move in a
square. You need four movement instructions to complete this program.
A
C
B
en0400000801
First point A
Robot movement Speed data v50 = speed 50mm/s B
Zone z50 = (50mm) C
Add movement instructions
This section details how to add movement instructions.
Information Action
Tip: Use only left-right/up-down joystick
movements to jog in a square. Jog the robot to the first point. 1
In the program editor, tap Add Instruction . 2
Tap MoveL to insert a
MoveL
instruction. 3
Repeat for the next four positions of the
square. 4
For the first and last instruction. Tap z50
in the instruction, tap
Edit and then Change
selected to Fine . Tap OK
5
Result
Your program code should look like this:
Proc main()
MoveL *, v50, fine, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, fine, tool0;
End Proc;
166 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.3.5 Example: Add movement instructions