ABB ProgrammingDay One, Segment 1

The Robot System

Panel Controls

• Mode Selection (key)

• Motors Engage

• Motors Stop

• Emergency Stop

Six-Axis Manipulator

• Figure 3 shows the directions in which the various axes of the manipulator can move and what these are called.

The Teach Pendant

*

*The enabling device is a three-position switch.The robot is enabled in the center position.

Joystick Control Cont.

Joystick Control Cont.

Three modes of motion:•Linear•Re-Orient•Joint

Top Buttons

Right Side Buttons

Bottom Buttons

The Other Keys

Tool Center Point

The Jogging WindowImportant Choice!

Coordinates System

•World

•Base

•Tool

•Work Object

Incremental Jogging

The RAPID Language

Robot

Application

Programming

Interactive

Dialog

Program Structure

Opening A Program

File Menu

Enter and Arrow Keys

Use these or the keypad to select from the File Menu

File Menu Dialog

Works anytime!

Summary

• System of controller and manipulator

• Axis have specific angles and limits

• Right Hand Rule of Robotic Orientation

• Teach Pendant controls

• File Menu and program access

End of Day One, Segment 1

Error Messages Layout

Error Message Information

1. Operational

2. System

3. Hardware

4. Program

5. Motion

6. Operator

7. I/O Com

8. Internal

1x,xxx

2x,xxx

3x,xxx

4x,xxx

5x,xxx

6x,xxx

7x,xxx

N/A

Status Info

Safety Circuits Panel Unit

Board Failure

Program Execution

Movement Problems

Program Unit Handling

I/O Comm. Error

System Software Error

Category Error Code Description

Error Logs

Running A Program In Auto

• Use the key switch to enter Auto-mode.

• Note: The Auto-mode run chain must be fully engaged or the robot controller will report an error.

Running A Program In Auto

Engage The Motors

Note: This is the typical method of running in Auto. It is also possible to do so using remote control circuits and programming.

Switching Off The Robot

End of Day One, Segment 2