ABB OmniCore S Series Operating Manual page 204

7 Running in production
7.4.4 Working with displacements and offsets
Continued
Examples
This example shows the move instructions with offsets to move the robot in a
square (clockwise), starting at p10, with a 100 mm displacement in x and y.
Creating position offsets
Use the following procedure to change a position to become an offset position.
204
2 Displacement in x direction
3 Displacement in y direction
4 Displacement in z direction
MoveL p10, v50...
MoveL Offs(p10, 100, 0, 0), v50...
MoveL Offs(p10, 100, 100, 0), v50...
MoveL Offs(p10, 0, 100, 0), v50...
MoveL p10, v50...
1 In the home screen open Code.
2 Tap the Menu button and select Code Editor.
3 Tap and select a position instruction to edit.
4 Tap Modify Instruction.
5 Tap Expression Editor.
6 Tap the Functions tab and select Offs.
7 Tap to select each expression or argument,<EXP> or <ARG>, and then tap
any of the desired available data or functions.
You can tap on Change Data Type and the other buttons available on the
expression editor to fine tune the selected instruction.
8 Tap Apply.
The changes are saved.
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Operating manual - OmniCore
3HAC065036-001 Revision: E