FlexPendant Operators Manual 3HAC16590 ... - Technology

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6 Programming and testing6.2.1. The structure of a RAPID applicationContinuedPartProgrammoduleDataRoutineEntry routineFunctionEach program module contains data and routines for a certain purpose.The program is divided into modules mainly to enhance overview andfacilitate handling the program. Each module typically represents oneparticular robot action or similar.All program modules will be removed when deleting a program from thecontroller program memory.Program modules are usually written by the user.Data are values and definitions set in program or system modules. Thedata are referenced by the instructions in the same module or in a numberof modules (availability depending on data type).Data type definitions are specified in the RAPID reference manual,Functions and data types.A routine contains sets of instructions, i.e. defines what the robot systemactually does.A routine may also contain data required for the instructions.A special type of routine, in English sometimes referred to as "main",defined as the program execution starting point.InstructionSystem moduleNoteEach program must have an entry routine called "main", or it will not beexecutable. How to appoint a routine as entry routine is specified in RAPIDreference manual. The default name for main can be changed by thesystem parameter configurations, type Task. See Technical referencemanual - System parameters.Each instruction is a request for a certain event to take place, e.g. "Run themanipulator TCP to a certain position" or "Set a specific digital output".The instructions, their syntax and function is thoroughly described in theRAPID reference manual, Instructions.Each system module contains data and routines to perform a certainfunction.The program is divided into modules mainly to enhance overview andfacilitate handling the program. Each module typically represents oneparticular robot action or similar.All system modules will be retained when "Delete program" is ordered.System modules are usually written by the robot manufacturer or linebuilder.3HAC 16590-1 Revision: B135
6 Programming and testing6.3.1. Viewing data in specific tasks, modules, or routines6.3 Data types6.3.1. Viewing data in specific tasks, modules, or routinesOverviewIt is possible to view selections of data types by selecting a specific scope.Viewing data in specific tasks, modules, or routinesThis section details how to view data instances in specific modules or routines.StepAction1. In the ABB menu, tap Program Data.2. Tap Change Scope.The following screen is displayed:en04000006613. Select the required scope by selecting:• Built-In Data Only: Shows all data types used by the specific system• Task: Shows all data types used by a specific task• Module: Shows all data types used by a specific module• Routine: Shows all data types used by a specific routine4. Tap OK to confirm your choice.5. Tap twice to select a data type and view its instances.1363HAC 16590-1 Revision: B
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Operator’s manualFlexPendantIRC5M
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The information in this manual is s
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Table of Contents3.3.6 Backup and r
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Table of Contents6.9.3 Running a sp
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Table of Contents8
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OverviewContinuedPrerequisitesThe r
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Product documentation, M2004Continu
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1 Safety1.2. Applicable safety stan
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1 Safety1.3.1. Safety signals, gene
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1 Safety1.3.2.2. DANGER - Moving ma
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1 Safety1.3.3.1. WARNING - The unit
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1 Safety1.3.4. What is an emergency
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1 Safety1.3.6. What is safeguarding
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1 Safety1.4.1. Stop the system1.4 H
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1 Safety1.4.3. Extinguishing fires1
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1 Safety1.4.5. Return to the progra
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1 Safety1.5.2. For your own safety1
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1 Safety1.5.4. Safety tools1.5.4. S
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1 Safety1.5.6. Safety in automatic
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2 Welcome to FlexPendant2.2. What i
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2 Welcome to FlexPendant2.5. When t
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2 Welcome to FlexPendant2.5. When t
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2 Welcome to FlexPendant2.6. Button
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3 Get started3.2.1. Connecting a Fl
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3 Get started3.2.3. Connecting a PC
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3 Get started3.2.4. Set up the netw
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3 Get started3.3.1. About the Actio
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3 Get started3.3.2. System start up
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3 Get started3.3.3. JoggingContinue
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3 Get started3.3.4. Using RAPID pro
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3 Get started3.3.6. Backup and rest
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3 Get started3.3.8. Granting access
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3 Get started3.3.10. Installing sof
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3 Get started3.3.12. General proced
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4 Navigating and handling FlexPenda
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Page 85 and 86: 4 Navigating and handling FlexPenda
Page 107 and 108: 5 Jogging5.2.1. Restrictions to jog
Page 109 and 110: 5 Jogging5.3.1. Selecting mechanica
Page 111 and 112: 5 Jogging5.3.2. Selecting motion mo
Page 113 and 114: 5 Jogging5.3.3. Selecting tool, wor
Page 115 and 116: 5 Jogging5.3.5. Jog axis by axis5.3
Page 117 and 118: 5 Jogging5.3.6. Jog in base coordin
Page 119 and 120: 5 Jogging5.3.7. Jog in world coordi
Page 121 and 122: 5 Jogging5.3.9. Jog in tool coordin
Page 123 and 124: 5 Jogging5.3.10. Locking the joysti
Page 125 and 126: 5 Jogging5.3.11. Incremental moveme
Page 127 and 128: 5 Jogging5.3.12. How to read the ex
Page 129 and 130: 5 Jogging5.3.13. Quickset menu, Mec
Page 131 and 132: 5 Jogging5.3.13. Quickset menu, Mec
Page 133 and 134: 5 Jogging5.3.14. Quickset menu, Inc
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Page 139 and 140: 6 Programming and testing6.3.2. Cre
Page 141 and 142: 6 Programming and testing6.3.3. Edi
Page 147 and 148: 6 Programming and testing6.4.2. Def
Page 153 and 154: 6 Programming and testing6.4.6. Set
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Page 161 and 162: 6 Programming and testing6.5.5. Del
Page 165 and 166: 6 Programming and testing6.6.4. Del
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6 Programming and testing6.8.3. Mov
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6 Programming and testing6.8.5. Edi
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6 Programming and testing6.8.5. Edi
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6 Programming and testing6.8.7. Del
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6 Programming and testing6.8.8. Del
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6 Programming and testing6.9.1. How
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6 Programming and testing6.9.2. Run
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6 Programming and testing6.9.3. Run
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6 Programming and testing6.9.4. Qui
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6 Programming and testing6.9.6. Ste
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6 Programming and testing6.10.1. Ru
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6 Programming and testing6.10.3. Ca
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6 Programming and testing6.10.5. Lo
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7 Running in production7.1. Startin
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7 Running in production7.3. Using m
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7 Running in production7.4. Returni
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7 Running in production7.5.1. Prese
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7 Running in production7.5.3. About
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7 Running in production7.5.4. Start
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7 Running in production7.5.6. Runni
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7 Running in production7.5.8. Switc
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7 Running in production7.5.10. Swit
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8 Handling inputs and outputs, I/O8
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9 Handling the event log9.2. Deleti
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9 Handling the event log9.3. Saving
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10 Systems10.2.1. What is “the me
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10 Systems10.2.2. The structure of
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10 Systems10.2.3. File handling10.2
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10 Systems10.3.2. Using the boot ap
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10 Systems10.3.2. Using the boot ap
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10 Systems10.3.4. Restart and selec
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10 Systems10.3.6. Restart and delet
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10 Systems10.3.8. Restart from prev
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10 Systems10.3.9. Reflashing firmwa
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10 Systems10.4.1. What is saved on
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10 Systems10.4.3. Restore the syste
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10 Systems10.5.1. Configuring syste
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10 Systems10.5.1. Configuring syste
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11 Calibrating11.2. Updating revolu
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11 Calibrating11.3. Loading calibra
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11 Calibrating11.5. Fine calibratio
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11 Calibrating11.6. Serial Measurem
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11 Calibrating11.6. Serial Measurem
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11 Calibrating11.7. 4 points XZ cal
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12 Changing FlexPendant settings12.
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13 Descriptions of terms and concep
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Indexprograms 165filteringabout 101
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Indexaxis computer 263contactor int
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Index318
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