ABB OmniCore S Series Operating Manual page 201

Examples
The following examples show how the planned path will be affected for different
types of movement when modifying positions.
Linear movement
In example A the robot is stopped on path before reaching the position P10. The
robot is jogged off path to the new position (P10x) and the position P10 is modified.
In example B the robot is stopped on path in position P10. The robot is jogged off
path to the new position (P10x) and the position P10 is modified.
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In both examples, when restarting the program the robot continues from the new
P10 (that is now the same as P10x) directly to P20 without returning to the previous
planned path (via the old P10).
Circular movement
In this example the robot is stopped on path in position P20 (circle point) and then
jogged to the new position P20x. The position P20 is modified.
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In single robot systems, the system is in unsynchronized mode: When restarting
the program the robot continues directly from the new P20 (that is now the same
as P20x) to P30 without returning to the previous planned path (via the old P20).
The new planned path from P20 (P20x) to P30 is calculated using these two
positions and position P10.
Operating manual - OmniCore
3HAC065036-001 Revision: E
The Teach Position confirmation window is displayed.
5 Tap Teach.
The values of the selected position is updated with the current robot position
values.
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7 Running in production
7.4.2 Teach position
Continued
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