Automatic Operation - ABB IRB 6400R Product On-Line Manual

Editing programs
Programs can be edited using standard editing commands, i.e. "cut-and-paste", copy,
delete, find and change, undo etc. Individual arguments in an instruction can also be
edited using these commands.
No reprogramming is necessary when processing left-hand and right-hand parts, since
the program can be mirrored in any plane.
A robot position can easily be changed either by
- jogging the robot with the joystick to a new position and then pressing the
"ModPos" key (this registers the new position)
or by
- entering or modifying numeric values.
To prevent unauthorised personnel from making program changes, passwords can be
used.
Testing programs
Several helpful functions can be used when testing programs. For example, it is
possible to
- start from any instruction
- execute an incomplete program
- run a single cycle
- execute forward/backward step-by-step
- simulate wait conditions
- temporarily reduce the speed
- change a position
- tune (displace) a position during program execution.
For more information, see the User's Guide and RAPID Reference Manual.

2.6 Automatic Operation

A dedicated production window with commands and information required by the
operator is automatically displayed during automatic operation.
The operation procedure can be customised to suit the robot installation by means of
user-defined operating dialogs.
Product Specification IRB 6400R M99/BaseWare OS 3.2
Description
11