ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.8.6 Stepping instruction by instruction
Overview
In all operating modes the program may be executed step by step forwards or
backwards.
Stepping backwards is limited, see Technical reference manual - RAPID
Overview for more details.
Select step mode
This section details how to select step mode. Stepping can be done in three ways;
step in, step over, and motion step.
Information Action
Described in Quickset menu, Step Mode
on page 86 .
Select step mode using the Quickset menu. 1
Stepping
This section details how to step forwards and backwards.
then press... If you want to step...
Forward button on FlexPendant forward
Backward button on FlexPendant backward
Limitations of backward execution
There are some restrictions for the backward execution:
• When stepping backwards through a
MoveC
instruction, the execution does
not stop in the circular point.
• It is not possible to step backwards out of a
IF
,
FOR
,
WHILE
and
TEST
statement.
• It is not possible to step backwards out of a routine when reaching the
beginning of the routine.
• There are instructions affecting the motion that cannot be executed backwards
(e.g.
ActUnit
,
ConfL
and
PDispOn
). If attempting to execute these
backwards, an alert box will inform you that this is not possible.
Backward execution behavior
When stepping forward though the program code, a program pointer indicates the
next instruction to execute and a motion pointer indicates the move instruction
that the robot is performing.
When stepping backward though the program code, the program pointer indicates
the instruction above the motion pointer. When the program pointer indicates one
move instruction and the motion pointer indicates another, the next backward
movement will move to the target indicated by the program pointer, using the type
of movement and speed indicated by the motion pointer.
Continues on next page
214 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.8.6 Stepping instruction by instruction