Handling Of Instructions - ABB IRC5 with FlexPendant Operating Manual

5 Programming and testing

5.3.4 Handling of instructions

5.3.4 Handling of instructions
Instructions
A RAPID program consists of instructions. An instruction can, for example, move
the robot, set an I/O signal, or write a message to the operator.
A large number of instructions are available, and these are listed in Technical
reference manual - RAPID Instructions, Functions and Data types. The basic
procedure for adding instructions are, however, identical.
Undo and redo
When editing programs in the Program editor, you can undo and redo up to three
steps. This function is available in the Edit menu.
Adding instructions
This section describes how to add instructions.
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Action
On the ABB menu, tap Program Editor.
Tap to highlight the instruction under which you want to add a new instruction.
Tap Add instruction.
A category of instructions is displayed.
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A large number of instructions, divided into several categories, are available. The de-
fault category is Common, where the most common instructions are listed.
You can create three personalized lists using the system parameters of the type Most
Common Instruction in the topic Man-machine Communication. The system parameters
are described in Technical reference manual - System parameters.
Tap Common to display a list of the available categories.
You can also tap Previous/Next at the bottom of the list of instructions to move to the
next/previous category.
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Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G