ABB OmniCore S Series Operating Manual page 199

Teach Position from RAPID data
It is possible to change the position values by modifying the RAPID data type
robtarget.
Use the following procedure to change the position values for the available
positions:
The programs that are created using RobotStudio may have array data position
arguments. You cannot directly use the teach position function in such position
arguments (robtargets). Use the following procedure to teach position for an array
data robtarget:
Operating manual - OmniCore
3HAC065036-001 Revision: E
The Teach Position confirmation window is displayed.
6 Tap Teach.
The values of the selected position is updated with the current robot position
values.
1 On the start screen, tap Code.
2 Tap the menu button and select RAPID Data.
The RAPID data types are displayed.
3 Select the data type robtarget.
The robtarget data instances (positions) are displayed.
4 Using joystick jog the robot to a new position.
5 Tap on the position that you want to modify.
The context menu is displayed.
6 Tap Teach Position.
The Teach Position confirmation window is displayed.
7 Tap Teach.
The values of the selected position is updated with the current robot position
values.
Note
Repeat steps 4 through 7 for the each position that you want to modify.
1 Tap on an array data robtarget.
The elements available in the array are displayed.
2 Using joystick jog the robot to a new position.
3 Select the element.
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7.4.2 Teach position
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