FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.1. Before you start programming6 Programming and testing6.1. Before you start programmingProgramming toolsYou can use both the FlexPendant and RobotStudio Online for programming. For basicprogramming it may be easier to use RobotStudio Online , while the FlexPendant is best suitedfor modifying programs, such as positions and paths.How to program using RobotStudio Online is described in Operator’s manual - RobotStudioOnline.Define tools, payloads and work objectsDefine tools, payloads and work objects before you start programming. You can always goback and define more objects later, but you should define your basic objects in advance.Define coordinate systemsMake sure the base and world coordinate systems have been set up properly during theinstallation of your robot system. Also make sure that additional axes have been set up.Define tool and work object coordinate systems as needed before you start programming. Asyou add more objects later you also need to define the corresponding coordinate systems.TIP!Need to know more about the RAPID language and structure? See the manuals RAPIDreference manual - RAPID overview, RAPID reference manual - Instructions, and RAPIDreference manual - Functions and data types.3HAC 16590-1 Revision: B133