ABB OmniCore S Series Operating Manual page 6

Table of contents
6 Programming and testing
6.1 Introduction ......................................................................................................
6.2 Before you start programming .............................................................................
6.3 Programming concept ........................................................................................
6.3.1 Handling of programs ..............................................................................
6.3.2 Handling of modules ................................................................................
6.3.3 Handling of routines ................................................................................
6.3.4 Handling of instructions ............................................................................
6.3.5 Example: Add movement instructions .........................................................
6.3.6 Program and motion pointers ....................................................................
6.4 Debugging the program ......................................................................................
6.5 Data types .......................................................................................................
6.5.1 View data in specific tasks, modules, or routines ...........................................
6.5.2 Creating new data instance .......................................................................
6.5.3 Editing data instances ..............................................................................
6.6 Tools ..............................................................................................................
6.6.1 What is a tool? ........................................................................................
6.6.2 What is the tool center point? ....................................................................
6.6.3 Creating a tool ........................................................................................
6.6.4 Copying a tool ........................................................................................
6.6.5 Defining the tool frame .............................................................................
6.6.6 Editing the tool data .................................................................................
6.6.7 Deleting a tool ........................................................................................
6.6.8 Setup for stationary tools ..........................................................................
6.7 Work objects ....................................................................................................
6.7.1 What is a work object? .............................................................................
6.7.2 Creating a work object .............................................................................
6.7.3 Copying a workobject ...............................................................................
6.7.4 Defining a work object ..............................................................................
6.7.5 Defining the work object coordinate system .................................................
6.7.6 Editing the work object data ......................................................................
6.7.7 Deleting a work object ..............................................................................
6.7.8 Setup stationary work object .....................................................................
6.8 Payloads .........................................................................................................
6.8.1 Overview ...............................................................................................
6.8.2 Creating a payload ..................................................................................
6.8.3 Copying a payload ...................................................................................
6.8.4 Editing the payload data ...........................................................................
6.8.5 Deleting a payload ...................................................................................
6.9 Testing ............................................................................................................
6.9.1 Using the hold-to-run function ...................................................................
6.9.2 Running the program from a specific instruction ...........................................
6.9.3 Running a specific routine ........................................................................
6.9.4 Stepping instruction by instruction .............................................................
6.10 Service routines ................................................................................................
6.10.1 Running a service routine .........................................................................
6.10.2 Connected Services Reset service routine ...................................................
6.10.3 Battery shutdown service routine ...............................................................
6.10.4 Calibration Pendulum service routine ..........................................................
6.10.5 Service Information System service routine ..................................................
6.10.6 Load identification service routine ..............................................................
6.10.7 Brake check service routine ......................................................................
6.10.8 Cyclic Brake Check service routine .............................................................
7 Running in production
7.1 Introduction ......................................................................................................
7.2 Basic procedures ..............................................................................................
7.2.1 Starting programs ...................................................................................
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Operating manual - OmniCore
3HAC065036-001 Revision: E
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