FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.9.6. Stepping instruction by instructionContinuedExample of backward executionThis example illustrates the behavior when stepping backwards through move instructions.The program pointer and motion pointer helps you keep track of where the RAPID executionis and where the robot is.MoveL, MoveJ, and MoveC are move instructions in RAPID, see RAPID reference manual -Instructions.en0400001204ABCProgram pointerMotion pointerHighlighting of the robtarget that the robot is moving towards, or already hasreached.When...then...206stepping forward untilthe robot is in p5pressing theBackward buttononcepressing theBackward buttonagainpressing theBackward buttonagainthe motion pointer will indicate p5 and the program pointer willindicate the next move instruction (MoveL p6).the robot will not move but the program pointer will move to theprevious instruction (MoveC p3, p4). This indicates that this is theinstruction that will be executed the next time Backward is pressed.the robot will move to p4 linearly with the speed v300.The target for this movement (p4) is taken from the MoveC instruction.The type of movement (linear) and the speed are taken from theinstruction below (MoveL p5).The motion pointer will indicate p4 and the program pointer will moveup to MoveL p2.the robot will move circularly, via p3, to p2 with the speed v100.The target p2 is taken from the instruction MoveL p2. The type ofmovement (circular), the circular point (p3) and the speed are takenfrom the MoveC instruction.The motion pointer will indicate p2 and the program pointer will moveup to MoveL p1.Continues on next page3HAC 16590-1 Revision: B