Using Rapid Programs - ABB IRC5 with FlexPendant Operating Manual

5 Programming and testing

5.2 Using RAPID programs

5.2 Using RAPID programs
Using the RAPID program
This procedure describes the main steps required in creating, saving, editing and
debugging any RAPID program.
Note that there is more information available, than the one referred to in the
procedure.
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Running the program
This procedure specifies how to use an existing RAPID program.
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Action
Start by creating a RAPID program.
Edit your program.
To simplify programming and keep an
overview of the program, you may want to
divide the program into more than one
module.
To further simplify programming, you may
want to divide the module into more than
one routine.
When programming you may want to work
with:
• Tools
• Work objects
• Payloads
In order to deal with potential errors that
may occur during program execution, you
may want to create an error handler.
After completing the actual RAPID pro-
gram, it will require testing before being
put into production.
After test running your RAPID program, it
may require altering. You may want to
modify, or tune, programmed positions,
the TCP positions, or paths.
Programs that are no longer required may
be removed.
Action
Load an existing program.
When starting program execution, you may
choose between running the program once,
or running it continuously.
© Copyright 2018 ABB. All rights reserved.
Information
How to create a RAPID program is detailed
in section Handling of programs on
page 150.
Proceed as detailed in section
instructions on page 162.
How to view, add, or delete a module is
detailed in section Handling of modules on
page 153.
How to add or delete a routine is detailed
in section Handling of routines on page
Also read the following sections:
• Creating a tool on page
• Creating a work object on page
• Creating a payload on page
Error handlers are described in the RAPID
manuals.
Proceed as detailed in section
page 206.
How to modify positions while the program
is running is described in section
menu on page 54.
How to modify positions in manual mode
is described in section Modifying positions
in the Program Editor or Production Win-
dow on page 264.
Information
Described in section Starting programs on
page 241.
Described in section Quickset menu, Run
Mode on page 85.
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
Handling of
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Testing on
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