ABB IRC5 with FlexPendant, Руководство по эксплуатации

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6.4.2 Modifying positions in the Program Editor or Production Window
Overview
When modifying positions by jogging the robot to the new position you can either
single-step through the program to the position(s) you want to modify, or jog directly
to the new position and change the corresponding position argument of the
instruction.
The recommendation is to step through the program to the position, but if you
know your robot program well and the new position is known, it is faster to use the
jogging method.
Note
Do not use this method to change orientation values.
Prerequisites
To modify positions using the Program Editor or Production Window.
• the system must be in manual mode
• the target position must have a 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
To modify positions in the Production Window, you must have started the program
so that the motion pointer is set.
Applying modified positions
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 that the position is used in the
program.
Modifying positions
This procedure describes how to modify positions, either by single-stepping to the
positions or jogging. You can use the
Program Editor or the Production Window ,
the functionality is the same.
Information Action
On the ABB menu, tap Program Editor . 1
Stop the program, if running. 2
Continues on next page
264 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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6 Running in production
6.4.2 Modifying positions in the Program Editor or Production Window