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    5 Programming and Testing: Service Routines

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    5 Programming and Testing: Service Routines

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    5 views3 pages

    5 Programming and Testing: Service Routines

    Uploaded by

    Cebrail Güzel

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 3

    5 Programming and testing

    5.9.1 Running a service routine

    5.9 Service routines

    5.9.1 Running a service routine

    Service routines
    Service routines perform a number of common services. Which service routines
    are available depends on your system setup and available options. Please refer
    to your plant or cell documentation for more information.

    Prerequisites
    Service routines can only be started in manual reduced speed mode or in manual
    full speed mode.
    The program must be stopped and there has to be a program pointer.
    It is not possible to call a routine when in synchronized mode.
    If the service routine contains parts that must be carried out in automatic mode,
    then the program pointer must not be moved manually before starting the service
    routine. The program pointer should be where the program flow was stopped.

    WARNING

    If a service routine is started in the middle of a stopped movement instruction


    (that is, before the end position is reached), then the movement will be resumed
    when the execution of the service routine starts.

    CAUTION

    Note that once a service routine has started, aborting it might not resume the
    system to its previous state, as the routine may have moved the robot arm.

    Running a service routine


    This section describes how to execute a service routine or another routine in the
    task scope using Call Routine.
    Action
    1 On the ABB menu tap Program Editor.

    Continues on next page


    212 Operating manual - IRC5 with FlexPendant
    3HAC050941-001 Revision: A
    © Copyright 2015 ABB. All rights reserved.
    5 Programming and testing
    5.9.1 Running a service routine
    Continued

    Action
    2 On the Debug menu tap Call Routine.

    en0400000884

    3 The Call Service Routine dialog lists all predefined service routines.
    The same dialog can however be used to run any routine in the task scope. Select All
    Routines on the View menu to see all available routines.

    en0400000885

    4 Tap a service routine and then tap Go to.


    The Program Editor will be displayed with the program pointer moved to the beginning
    of the selected routine.

    Continues on next page


    Operating manual - IRC5 with FlexPendant 213
    3HAC050941-001 Revision: A
    © Copyright 2015 ABB. All rights reserved.
    5 Programming and testing
    5.9.1 Running a service routine
    Continued

    Action
    5 Press the Start button on the FlexPendant and follow the instructions displayed on
    the FlexPendant.
    After execution of the routine the task is stopped and the program pointer is returned
    to where it was before the service routine started.

    CAUTION

    Press Cancel Call Rout if you need to interrupt the routine before it has finished
    executing. Before resuming normal program flow, however, you must see to it
    that the robot is correctly positioned. If the interrupted routine has moved it, you
    will need to take actions to return the robot to its position. See Returning the
    robot to the path on page 242 for further information.

    WARNING

    Do not execute a service routine in the middle of a move or a weld.


    If you execute a service routine in the middle of a movement, the unfinished
    movements will be completed before the called routine is executed. This can
    result in an unwanted movement.
    If possible, step and complete the interrupted movement before the service
    routine is called. Otherwise save the current movement by adding StorePath
    and RestoPath in the service routine. The movement will then be completed
    after the service routine has ended and the program starts again.
    However, it is not possible to save more than one interrupted movement each
    time as wanted, if the service routine would be called from an error handler with
    StorePath and RestoPath.

    Limitations
    Besides service routines, Call Routine applies to all routines with the following
    criteria:
    • Must be a procedure with empty parameter list. This means not a function
    and not a trap routine.
    • Must be in the task scope, not local. If the procedure is local in a module the
    scope is restricted to that module, and the procedure is not visible from the
    task level.
    • Must be in a loaded module, not installed. (Check the system parameter
    Installed in the type Automatic Loading of Modules in the Controller topic.)

    Related information
    Battery shutdown service routine on page 216.
    LoadIdentify, load identification service routine on page 219.
    Service Information System, ServiceInfo service routine on page 218.
    Calibration Pendulum, CalPendulum service routine on page 217.

    Continues on next page


    214 Operating manual - IRC5 with FlexPendant
    3HAC050941-001 Revision: A
    © Copyright 2015 ABB. All rights reserved.

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