Handling Of Instructions - ABB OmniCore Operating Manual

6 Programming and testing

6.3.4 Handling of instructions

6.3.4 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.
Adding instructions
Use the following procedure to add instructions to a module:
Editing instruction arguments
This section describes how to edit instruction arguments.
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1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module on which instruction need to be added.
3 Tap Add Instruction.
The Add Instruction panel is displayed.
4 Tap on the location where the instruction need to be inserted.
5 Select an instruction from Common or Groups tab according to your
requirement.
The selected instruction is displayed with its parameters.
6 Edit the instruction parameters and tap Add.
The selected instruction is added after the selected location on the module.
7 Tap Check Program.
The validity of the program is verified.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module on which instruction need to be edited.
3 Tap on the instruction that need to be edited.
4 Tap Modify Instruction.
The selected instruction is displayed with its parameters.
5 Edit the instruction parameters.
Note
Tap Exp. Edit to open the selected instruction in Expression Editor window.
You can edit the instruction from here also.
6 Tap Apply.
The changes are updated in the selected instruction.
7 Tap Check Program.
The validity of the modified program is verified.
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Operating manual - OmniCore
3HAC065036-001 Revision: D