Modifying Positions; Modifying And Tuning Positions - ABB IRC5 with FlexPendant Operating Manual

6.4 Modifying positions

6.4.1 Modifying and tuning positions

Overview
Positions are instances of the data type robtarget or jointtarget. See Technical
reference manual - RAPID Instructions, Functions and Data types.
The positions can be tuned using the function HotEdit, where you enter offset
values using a soft keyboard.The offset value is used together with the original
position value. See
is described in section
The positions can also be modified using the Modify positions function in the
Program Editor or the Production Window where you step and jog the robot to
the new position. A modified position value overwrites the original value. See
Modifying positions in the Program Editor or Production Window on page
Positions in arrays
If a position is declared as an array, then the procedure for modifying or tuning
may differ slightly depending on how the array is indexed in the move instruction.
Limitations
Note that jointtargets can only be modified using the Modify positions method in
the Program Editor and the Production Window, i.e. not with HotEdit.
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
Tuning positions with HotEdit on page
HotEdit menu on page
CAUTION
Changing programmed positions may significantly alter the robot's movement
pattern.
Always make sure any changes are safe for both equipment and personnel.
Note
Your system can have restrictions on how positions can be modified. Restrictions
can apply to distance using system parameters (topic Controller, type ModPos
Settings) and which positions can be modified using UAS.
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6 Running in production
6.4.1 Modifying and tuning positions
268. The HotEdit menu
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