FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.9.6. Stepping instruction by instruction6.9.6. Stepping instruction by instructionOverviewIn all operating modes the program may be executed step by step forwards or backwards.Stepping backwards is limited, see RAPID overview for more details.Select step modeThis section details how to select step mode. Stepping can be done in three ways; step in, stepover, and motion step.Step Action Info1. Select step mode using the Quicksetmenu.Described in Quickset menu, StepMode on page 203.SteppingThis section details how to step forwards and backwards.If you want to step...forwardbackwardthen press...Forward button on FlexPendantBackward button on FlexPendantLimitations of backward executionThere are some restrictions for the backward execution:• When stepping backwards through a MoveC instruction, the execution does not stop inthe circular point.• It is not possible to step backwards out of a IF, FOR, WHILE and TEST statement.• It is not possible to step backwards out of a routine when reaching the beginning ofthe routine.• There are instructions affecting the motion that cannot be executed backwards (e.g.ActUnit, ConfL and PDispOn). If attempting to execute these backwards, an alertbox will inform you that this is not possible.Backward execution behaviorWhen stepping forward though the program code, a program pointer indicates the nextinstruction to execute and a motion pointer indicates the move instruction that the robot isperforming.When stepping backward though the program code, the program pointer indicates theinstruction above the motion pointer. When the program pointer indicates one moveinstruction and the motion pointer indicates another, the next backward movement will moveto the target indicated by the program pointer, using the type of movement and speedindicated by the motion pointer.3HAC 16590-1 Revision: BContinues on next page205