Programming And Testing; Before You Start Programming - ABB IRC5 with FlexPendant Operating Manual

5 Programming and testing

5.1 Before you start programming

Programming tools
You can use both the FlexPendant and RobotStudio for programming. The
FlexPendant is best suited for modifying programs, such as positions and paths,
while RobotStudio is preferred for more complex programming.
How to program using RobotStudio is described in Operating manual - RobotStudio.
Define tools, payloads, and work objects
Define tools, payloads and work objects before you start programming. You can
always go back and define more objects later, but you should define your basic
objects in advance.
Define coordinate systems
Make sure the base and world coordinate systems have been set up properly
during the installation of your robot system. Also make sure that additional axes
have been set up.
Define tool and work object coordinate systems before you start programming. As
you add more objects later you also need to define the corresponding coordinate
systems.
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot will not be used to its maximum capacity
• Impaired path accuracy including a risk of overshooting
• Risk of overloading the mechanical structure
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Tip
For more details about the RAPID language and structure, see Technical reference
manual - RAPID Overview and Technical reference manual - RAPID Instructions,
Functions and Data types.
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5 Programming and testing
5.1 Before you start programming
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