ABB IRB 2000 - Page 29

Program execution:
- Pause in program running, defined by:
time;
input conditions.
- Jump in a program:
unconditional;
conditional;
search stop condition.
- Program stop.
I/O handling (option):
- Setting of digital outputs;
- Enabling/disabling of direct acting inputs (system I/O);
- Transmission of numerical values between I/O and numerical registers.
Register handling:
- Storage in numerical registers of:
numerical values
positioning offset values
current location (x,y,z values).
- Processing of values stored in numerical registers by use of the four rules of
arithmetic;
- Storage of TCP location and wrist orientation.
Other instructions:
- Comments:
explaining program codes;
displaying execution status on the monitor (option);
explaining program stops.
- Gripper control.
4.3.4 Editing functions
• Changing of:
- Instruction
- Position:
by running the robot;
- by entering the value.
- Position of external axes
- Arguments in positioning instruction.
• Searching for program or instruction by:
- Entering number;
- Indexing forwards or backwards within the program;
- listing of program numbers used;
- listing of call-up sequence to the program active.
• Insertion of new instructions.
• Re-numbering of instruction numbers in even tens.
• Erasing of:
- Programs;
- Instructions.
• Copying of:
- Programs;
- Instructions.
• Mirroring of a program.
Description HUB 2000
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