Action
Press the
Start
button on the FlexPendant and follow the instructions displayed on
the FlexPendant.
5
After execution of the routine the task is stopped and the program pointer is returned
to where it was before the service routine started.
CAUTION
Press
Cancel Call Rout
if you need to interrupt the routine before it has finished
executing. Before resuming normal program flow, however, you must see to it
that the robot is correctly positioned. If the interrupted routine has moved it, you
will need to take actions to return the robot to its position. See
for further information.
WARNING
Do not execute a service routine in the middle of a move or a weld.
If you execute a service routine in the middle of a movement, the unfinished
movements will be completed before the called routine is executed. This can
result in an unwanted movement.
If possible, step and complete the interrupted movement before the service
routine is called. Otherwise save the current movement by adding
StorePath
and
RestoPath
in the service routine. The movement will then be completed
after the service routine has ended and the program starts again.
However, it is not possible to save more than one interrupted movement each
time as wanted, if the service routine would be called from an error handler with
StorePath
and
RestoPath
.
Limitations
Besides service routines,
Call Routine
applies to all routines with the following
criteria:
•
Must be a procedure with empty parameter list. This means not a function
and not a trap routine.
•
Must be in the task scope, not local. If the procedure is local in a module the
scope is restricted to that module, and the procedure is not visible from the
task level.
•
Must be in a loaded module, not installed. (Check the system parameter
Installed
in the type
Automatic Loading of Modules
in the
Controller
topic.)
Related information
Battery shutdown service routine on page 221
LoadIdentify, load identification service routine on page 224
.
Service Information System, ServiceInfo service routine on page 223
Calibration Pendulum, CalPendulum service routine on page 222
.
Continues on next page
Operating manual - IRC5 with FlexPendant
219
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.9.1 Running a service routine
Continued
Содержание IRC5 with FlexPendant
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