Example: Add Movement Instructions - ABB IRC5 with FlexPendant Operating Manual

5 Programming and testing

5.3.5 Example: Add movement instructions

5.3.5 Example: Add movement instructions
Overview
In this example you will create a simple program that makes the robot move in a
square. You need four movement instructions to complete this program.
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Add movement instructions
This section details how to add movement instructions.
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Result
Your program code should look like this:
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First point
Robot movement Speed data v50 = speed 50mm/s
Zone z50 = (50mm)
Action
Jog the robot to the first point.
In the program editor, tap Add Instruction.
Tap MoveL to insert a MoveL instruction.
Repeat for the next four positions of the
square.
For the first and last instruction. Tap z50
in the instruction, tap Edit and then Change
selected to Fine. Tap OK
Proc main()
MoveL *, v50, fine, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, fine, tool0;
End Proc;
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Information
Tip: Use only left-right/up-down joystick
movements to jog in a square.
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G