ABB OmniCore S Series Operating Manual page 160

6 Programming and testing
6.10.1 Running a service routine
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4 In the confirmation window tap Yes.
5 Press the three-position enabling device to bring the controller to Motors
On state.
Note
For collaborative robots you do not need to press the three-position
enabling device since the motors are ON by default.
6 Press the Play button on the Control Panel.
Note
You can also press the START hard button on the FlexPendant.
The service routine is executed.
Note
After the execution of the routine, the program pointer is returned to where
it was before.
CAUTION
Press Cancel Call Rout if you need to interrupt the routine before it has finished
executing. Before resuming normal program flow, however, you must see to it
that the robot is correctly positioned. If the interrupted routine has moved it, you
will need to take actions to return the robot to its position. See
robot to the path on page 193
WARNING
Do not execute a service routine in the middle of a move or a weld.
If you execute a service routine in the middle of a movement, the unfinished
movements will be completed before the called routine is executed. This can
result in an unwanted movement.
If possible, step and complete the interrupted movement before the service
routine is called. Otherwise save the current movement by adding StorePath
and RestoPath in the service routine. The movement will then be completed
after the service routine has ended and the program starts again.
However, it is not possible to save more than one interrupted movement each
time as wanted, if the service routine would be called from an error handler with
StorePath and RestoPath.
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Operating manual - OmniCore
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