FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.8.2. Modifying positions6.8.2. Modifying positionsOverview modifying positionsPositions are instances of the data type robtarget or jointtarget. See RAPID reference manual- Functions and data types.The positions can be modified either using the function HotEdit, where you enter the newvalues using a soft keyboard, or using the Modify positions function in the Program editorwhere you step and jog the robot to the new position.HotEdit is described in section HotEdit on page 73.Note that jointtargets can only be modified using the Modify positions method in the Programeditor, i.e. not with HotEdit.CAUTION!Changing programmed positions may significantly alter the robot’s movement pattern.Always make sure any changes are safe for both equipment and personnel.Overview modifying positions in the Program editorWhen modifying positions by jogging the robot to the new position you can either single-stepthrough the program to the position(s) you want to modify, or jog directly to the new positionand change the corresponding position argument of the instruction.The recommendation is to step to through the program to the position, but if you know yourrobot 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.To modify positions using the Program editor, the system must be in manual mode.Modifying positionsThis procedure describes how to modify positions, either by single-stepping to the positionsor jogging.Step Action Info1. On the ABB menu, tap Program Editor.2. Stop the program, if running.3. Do you want to single-step to the position or jog?If single-stepping, step through the program to theposition you want to change. Make sure the correctargument is selected.If jogging, use the Jogging view to make sure thatthe same work object and tool that are used in theinstruction are selected.4. Jog to the new position.5. When using the jogging method, tap to select theposition argument you want to change.6. Tap Modify Position.A confirmation dialog appears.7. Tap Modify to use the new position, Cancel to keepthe original.When single-stepping, ifthe instruction orprocedure call has morethan one positionargument, continue to stepto reach each argument.184Continues on next page3HAC 16590-1 Revision: B