Basic Robot Training - Customerl

ABB- Robotics, Bangalore
Basic Robot Training:
Trainer : YATHIRAJU.GN
ABB Robotics, Bangalore,
© ABB Group
December 15, 2011 | Slide 1
© ABB Group
Day1 Agenda
• Introduction to ABB robot
• Safety
• Definition of Industrial Robot
• Description of Manipulator
• Description of Controller
• Description of Flexpendent
• Pictorial description of Robot Connection
• Jogging
– Motion Mode
– Coordinate System
• Practice
© ABB Group
ROBOT SPECIFICATION
• ABB robots are specified using a designation IRB say for example, IRB140, IRB1400, IRB2400,
IRB1600, IRB6600, IRB340 etc.
• IRB stands for Industrial Robot Body
Some important specifications to look for in a
Robot are:
1.Payload
2.Reach
3.Supplementary load.
4.Speed
© ABB Group
Robots Overview
6 axis robots Paint robots Dedicated 4 axis robots
Picking
Packing
Palltizing
• Comprehensive range from 1kg to 650kg payload capacity

• Robust, rigid, reliable, easy to use
• Customization through modular design concept
• Protection with IP67, Clean Room, Foundry Plus, Foundry Prime,
Wash Down
© ABB Group
Small robot family
Pay load 5kg to 60kg
6kg 0.81m 5kg 1.44m 6-8kg 1.2/1.45m
IRB 140 IRB 1410 IRB 1600
4kg 1.5m 5-20kg 1.5/1.8m 60kg 1.95m
Integrated Dressing
IRB 1600ID IRB 2400 IRB 4400
© ABB Group
Robots
New family of mid range robots – IRB 4600
45 or 60kg 2.05m 40kg 2.55m 20kg 2.5m
• 4 robots in one
• Fast, accurate, robust, compact, large working range
• Flexible mounting – floor, tilted 15 degrees , inverted, shelf
• Protection with IP67, Clean Room, Foundry Plus, Foundry Prime,
Wash Down
• Fieldbus on upper arm. Electronic Position Switches (EPS)
© ABB Group
Large robot family
Pay load 90kg to 650kg*
150kg 2.2m 205kg 1.9m 130kg 3.1m
IRB 6620 IRB 6660 Pre Machining IRB 6660 Press Tending
90-200kg 3.0/3.9m 130-235kg 2.55/3.2m 150-500kg 2.55/3.5m
* 650kg capacity
IRB 6650S IRB 6640 IRB 7600 with wrist down
© ABB Group
New 150kg capacity rail mounted robot
IRB 6620LX – Linear Axis
Cost effective solution - can serve several

machines
Small floor space needed – can work above
machines
Very flexibility – Hanging or side mounted robot
versions. Can be tailor-made for different lengths
(max 40 m) and heights (max 4 m)
High reliability – Built on standard pre-proven
products
Made also for harsh environments – Foundry
Plus protection as an option
Side mounted version
© ABB Group
Paint robot family
With dedicated controller
All ABB paint Compact Flexwrist & CP prog. Hollow Wrist
robots, paint
controllers and
paint
programming
units are
Explosion
Protected.
See data sheets
for more
information.
IRB 52 IRB 540 IRB 580/58
Process or Slim Arm Car Body Painter Paint Controller
IRB 5400 IRB 5500 IRC5P for paint
© ABB Group
Dedicated 4 axis robot family
Overview - picking, packing, palletizing
High speed picker Top loading packer Palletizer
1-3kg 1.13m or 1.6m 30kg 1.5m 180-250kg 3.15m
IRB 360 FlexPicker IRB 260 IRB 660
Serving fully
integrated
packing lines
© ABB Group
The FlexPicker family
Now extended with new “long arm” version
Existing pickers New picker variant
IRB 360/1-800 1kg capacity IRB 360/1kg capacity

Compact footprint IRB 360/3kg capacity
800mm x 800mm with reduced cycle IRB 360/1-1600 kg capacity
Working range 800mm dia. Working range 1130mm dia. Working range 1600mm dia.
© ABB Group
Robot control family
Overview
Modular version Panel mount version Paint version
FlexPendant
graphical user
interface
Multi-robot control, up to 36 axis, with MultiMove

Programmable user interface with joystick motion control with FlexPendant
World leading motion control with TrueMove & QuickMove
“Next generation safety” with SafeMove
Powerful connectivity through network interfaces
Now available with Remote Service option
© ABB Group
DEFINITION OF AN INDUSTRIAL ROBOT
• An industrial robot is a programmable multi-functional, multi

DOF manipulator powered by electricity.
© ABB Group
ABB Safety Solutions – an Overview
• Emergency stop
• Operating mode
– Auto
– Manual < 250 mm/s
– Manual 100%
• Enabling device
(Dead mans grip)
• Hold-to-run
• Safeguard stop
(Auto and Manual)
• Limiting the workspace
© ABB Group
Accident Risks
• Fault tracing
• Repair
• Change of
program
• Test run
Always avoid PINCH POINTS

© ABB Group
Emergency Stop
• Built in emergency stop

pushbuttons are found both on
the FlexPendant and Control
module standard.
• Extra emergency stops can be
connected to the robot systems
safety chain.
Recover by resetting pushbutton and

pressing the Motors On button.
© ABB Group
Hold-to-Run
• Option (this function can be activated in the parameters

for manual reduced speed mode)
• The enabling device and one of the hold-to-run buttons
must be pressed simultaneously to start the motors
Enabling device
Hold-to-run buttons
(for left or right hand)
© ABB Group
Safeguard Stop
• The connection of safeguard stop enables inter-locking of external safety equipment, such
as: doors, photo-electric trip device, photo cells or sensible mats
• There are two categories of Safeguard stop:
– Manual – the safeguard stop is active regardless of operating modes (Emergency Stop,
General Stop, Superior Stop)
– Auto – the safeguard is active when automatic mode is selected (Auto Stop)
• It is possible to activate Delayed Safeguard Stop.
A delayed stop gives a smooth stop. The robot stops in the same way as at a normal program
stop with no deviation from the programmed path. After approx. 1 second the power
supplied to the motors shuts off.
© ABB Group
Limiting the Workspace
• To avoid the risk of getting caught

between the robot and the
perimeter safety equipment, e.g. a
fence, the robot’s workspace can be
limited:
– All axis can be software limited
– On some robots Axis 1–3 can be
limited by adjustable mechanical
stops and controlled by limit
switches
© ABB Group
Safety Regarding Grip Device
• All grip devices should be designed so the work piece will be held even on power failure and
other disturbances in the robot system
• There should be possibilities to release the work piece manually
© ABB Group
Electrical Safety
• Hazardous power in both the cabinet and the robot

• Control Module
– Power supply – 230 VAC
– Customer equipment – …
• Drive Module
– Power Source – 480 VAC
– Power supply – 230 VAC
– Power supply to robot motors – 370VDC up to 700 VDC
© ABB Group
Safety Regarding Releasing the Breaks
• The brakes on the robot motors can be manually released.

• Before the brakes are released, be sure the weight of the robot arm
is supported to avoid robot arm falling and doing damage to
equipment or people.
© ABB Group
MANIPULATOR
© ABB Group
DESCRIPTION OF A MANIPULATOR
• A manipulator is an assemblage of rigid links connected by joints.

• Each joint is driven by an actuator (AC Servo motors in ABB robots).
• Actuators are coupled to joints via geared transmission.
• An industrial manipulator has 4 OR 6 degrees of freedom.
• Brakes are installed in every joint motor to hold the manipulator in position against gravity in
motors off state.
© ABB Group
Block Diagram of Robot
Manipulator Power cable

CONTROLLER
ROBOT MANIPULATOR
SMB Cable
Ext Ax Power
Resolver Cable
EXTERNAL AXIS
R
Y
B 3 Phase 415VAC
© ABB Group
Six Axis Robot Movement
© ABB Group
DEGRES OF FREEDOM
The number of independent movements a robot can make is known as the degree of
freedom of the robot manipulator. In other words the number of rotary axes a
manipulator has is known as its degree
of freedom.
© ABB Group
THE MAJOR AND MINOR AXES OF A ROBOT
• The first 3 axes (axis 1/2/3/) of a robot are known as the major axes because they help in
positioning the wrist at a required point on the workpiece.
• The last 3 axes (4/5/6) of a robot are called as the minor axes because they allow the wrist to
reorient in any required direction without changing its position.
© ABB Group
CONTROLLERS
© ABB Group
Controllers
S1 1974 - 1982 S2 1983 - 1991 S3 1987 - 1996 S4 1994 - 1999
S4C 1996 - 2000

IRC5 2004 -
S4Cplus 2000 - 2007
© ABB Group
IRC5 – the 5th generation Robot Controller
© ABB Group
Single Cabinet Controller
Drive and control functions combined in one cabinet
Clean AluZinc cabinet
(only front painted)
resistant to environmental
influence
self healing if scratched
Dimensions 970 x 725 x 710 (H x D x W)
Full option range, including MultiMove
Max 2 internal I/O units
900
© ABB Group
Pictorial description of Controller (Outside)
Main Disconnect
E-Stop
Motors On
Mode Selector
Run Chain Status

USB Port
Ethernet Service
Hour Meter
© ABB Group
OPERATING MODES OF A ROBOT
A robot can be operated in three different modes:

• Manual mode.
• Manual 100% mode.
• Automatic mode.
Inside IRC5 Single Cabinet Controller
Power supply units Computer unit
Computer UltraCap Panel unit (safety interface)
(right inside wall)
Power ON/OFF
Manipulator signal
interface
Operator´s panel
Service ports
USB (option)
Drive unit Customer (I/O) space
Ethernet
section
FlexPendant
connection
Axis computer
Options: (right inside wall)
Duty Time Counter
230/120 V service
outlet Power intake
Motors On contactors Manipulator connections
and interface board
(left inside wall) Customer connections
(behind optional cover)
© ABB Group
Single Cabinet Controller
© ABB Group
Drive Module for MultiMove Requirements
Contains drive system, axis

computer, transformer, mains
connection & filter
Controls up to 8 or 9 internal axes
(depending on robot size)
Building block for MultiMove (up to
4 drive cabinets connected to a
single control cabinet)
Height 625 mm,
footprint 700 * 700 mm
© ABB Group
Process Module
• Extension for more customer equipment space

• Common look and feel
• Fits on top of any other module (Single Cabinet Controller, Drive Module)
© ABB Group
Module Family Concept
Flush sides for reduced floor space

Front access
All modules fit on top of each other
No air filter
MTTR < 10 min
© ABB Group
MultiMove Stand-Alone
• One controller for up to 4 drive units

• Totally 32-36 axes (depending on drive size)
• Arbitrary mix of drive module types
• Up to four machines with kinematics
• Up to six independent motion tasks
• Possibility to mix IRB’s and external machines
• Possibility for geometrically co-ordinated operation of multiple machines
© ABB Group
Flexpendant
© ABB Group
IRC5 – FlexPendant
Status bar
ABB Menu
Main menu
Windows style
“switch between Quickset or
open windows/views” © ABB Group “COG” Menu
Graphical color touch screen
IRC5 – FlexPendant 4 Hard keys for fast access
Programmable
3-way joy stick
4 Hard keys for running programs

Start
© ABB Group Execute Backward/Forward
Stop program
Quickset or COG button
© ABB Group
MODES OF JOGGING
Jogging can be done in three modes:

• Axes mode (joint by joint )
• Linear mode (along X / Y / Z)
• Reorient mode (changing orientation of tool)
© ABB Group
Jogging the robot
Remember that the joystick assumes you are facing the front of the robot.
© ABB Group
Jogging the robot
+3 +4
-5
+6
-2
-3
-4 +5 -6
+2
+5
+2
-1 +1
-4 +4
-1 +1
+6 -6
+3 -3
-5
-2
+Z Z
Y
+Y
-X
-X
X
-Y +Y
-Y +Y
+Z -Z
+Z -Z +X
+X
+X
© ABB Group
INCREMENTAL MODE
© ABB Group
Coordinate Systems
TCPZ
Y
X
Tool coordinates
Z
Y
X
Base coordinates
Z Z
Y
Y
X WorkObject
World coordinates
X
© ABB Group
Right Hand Rule
+Z
+X
+Y
© ABB Group
Day-2 Agenda
• Defining a tool
• Defining a workobject
• Motion instruction
• Basic Programming Structure
• Practice
© ABB Group
TOOL
© ABB Group
Tool Definition
“Keeps Tool Frame
Directions same as
TCP Default Orient Tool0
Tool Definition
TCP & Z
TCP & Z,X
© ABB Group
Tool Coordinate System
• Tool coordinate system

Tool coordinates
Y
Tool0
X Z
Benefits using Tool:
Jogging
Re-orientation
Easy to change
Z
Y
Base coordinates
X © ABB Group
Coordinate System
• Different examples of tools and TCPs.
TCP
TCP
TCP
TOOL0
TCP
Tool0 is always the

ref.point for the other tools
© ABB Group
Define a Tool, 4-point Method
• tPen
Fixed point
© ABB Group
Defining a Tool
• Create a Tooldata on FlexPendant

– Tap ABB : Program Data : Tooldata : Show Data : New
Give tool a name.

Tap Initial Value.
Page down to Mass and enter the weight
of the tool in Kg.
Cursor down to COG X and enter a value
in mm.
Tap OK : OK : OK
© ABB Group
Type of TCP Definition/Quaternions
q1 q2 q3 q4
TCP Default Orient

1 0 0 0
TCP & Z x x 0 0
TCP Z & X x x x x
(q1)2+(q2) 2+(q3) 2+(q4) 2=1

-1 X 1
© ABB Group
workobject
© ABB Group
Origin & Frame Orientation
Y1
Y axis
X axis
X2
90°
Origin
X1
© ABB Group
Work Object Coordinate System
• User Coordinate System

– Object Coordinate System
Z
Y
TCP Z WorkObject
Y
X X
Tool coordinates
Z
Y
X
Base coordinates
© ABB Group
Work Object Coordinate System
• Define coordinate systems

Object
User User
© ABB Group
Create a Work Object
Figure drawn in a work object
© ABB Group
Create a Work Object
• Activate the measuring tool

(tPen)
• Create the work object
• Define the coordinates
Origin y1
x1 Work object axis Y
x2
wobjA4
Work object axis X
© ABB Group
WORK OBJECT DEFINITION
© ABB Group
Activating a Work Object
© ABB Group
Programs/Routines/Modules Structure
X Task PROGRAMS
Y Task
Created By Default
Mainmodule M N
Mainmodu P Q
le
R1( )
R1( )
R2 ( ) Main()
Main()
R6( ) R7( )
R2( )
R3( ) R5( )
ROUTINES
R6( )
R3( ) R7( )
R4( )
R4( )
R5( )
© ABB Group
Create a program
• To Create a new program:
(If no program exists)
– Tap ABB
– Tap Program Editor
– Select Robot Task
– Tap New.
– Give your program a name
– Tap OK
© ABB Group
Saving and Loading a program
To create a new program or load an existing program or Save a program:
•Tap ABB
•Tap Program Editor
•Select Robot Task
•Tap Tasks and Programs
•Select a Task if multiple
robots
•Tap File
•Tap New Program:

•To create a new program
•Tap Load Program:

•To load an existing program
•Tap Save Program as:

•To save a program
© ABB Group
Saving a program
• A folder with the program name is created

• Module: MainModule (all programs have)
• File extension: pgf
• Is an XML file that points to MainModule and other program modules.
The same
name
© ABB Group
Changing a Program
Select item to
change by double
Tapping.
Then choose new

value and press
OK.
© ABB Group
MOTION INSTRUCTION
© ABB Group
MoveJ or MoveL?
MoveJ
Joint interpolation is often the fastest way to move between two points
as the robot axes follow the closest path between the start point and the
destination point (from the perspective of the axis angles). Use when in
open spaces such as moving from one fixture to another.
MoveL
LINEAR interpolation is the most accurate motion between two points.

The robot will maintain a straight line of the TCP from the starting point to
the end point. If this is not possible an event will be generated. Use
when robot is moving close to other objects such as fixtures or
parts. © ABB Group
Circular Movement
• MoveC
pCircle20
pCircle30
pCircle40
© ABB Group
Circular Movement
• Circle with MoveC’s
pCircle20
This robtaget can be copied and pasted
pCircle30
pCircle50
pCircle40
Press Modify pos
© ABB Group
Velocity and Zones
z
MoveL p40, v1000, z40, tool0;
MoveL p30, v300, z30, tool0;
© ABB Group
Inserting Move Instructions
• To add instructions to your program:
– Tap Add Instruction
– Jog robot into position
– Tap MoveJ or MoveL
– Jog robot to next position
– Repeat
© ABB Group
Modifying a Position
Step to the move

to be modified.
Jog the robot to

the new position.
Tap
Modify Position
© ABB Group
Day-3 Agenda
• Error handling
• Offset function
• Program Flow instruction
• Communication Instruction
• Backup
• Calibration
• Practice
© ABB Group
ERROR HANDLING
© ABB Group
Introduction
Event Messages are divided into.

I
– Information
– E.g: Hold to run must be pressed.
Information of how to proceed
– Warning
– E.g: Manual movement full speed is selected.
The operator is informed about a potential risk.
– Error
– E.g: Motor On when Emergency Stop is active.
The system cannot operate before a measure is
carried out.
© ABB Group
Error Message
• When the computer detects a problem or possible problem, it
generates an error message with description and action.
– Unacknowledged message is displayed in red on the status bar
Unacknowledged
message displayed
© ABB Group
Event Log
Symbol Code Title Time stamp
© ABB University -99
© ABB Group
Event Log
Scroll the list with the yellow arrows

Tap on a specific message to get more information
The time stamp is not reliable on hundredth of seconds
© ABB Group
Event Log
• Logs are stored under different topics
• Tap view and select the topic of interest
– Topic common consist of a mixture of the last created loggs
© ABB Group
Programmable Keys
• Setup a programmable key.
– Tap ABB : Control Panel : ProgKeys
– Select Key to setup.
– Select Type (usually Output)
– Select Output.
– Select Key Pressed
– Tap OK.
© ABB Group
offset function
© ABB Group
Function Offset
Function Offset
In the Move command position definition, choosing
function will enable move with offset (Offs). A
displacement of the robot position.
Example
Used to displace a position
Move type Speed
from original position
C, J, L Accuracy
Move_ Offs(pStart,-100,0,0), v500, fine, toolx;

Z Offset
Position data to
Y Offset
be displaced
X Offset
© ABB Group
Making a Perfect Circle
To Make a Perfect Circle
MoveL pStart, v500, fine, toolx;
MoveC Offs(pStart,-100,-100,0),Offs(pStart,-200,0,0),v500,z1,toolx;
MoveC Offs(pStart,-100,100,0), pStart,v500,z1,toolx;
Which direction will

the circle be drawn?
CW or CCW
© ABB Group
Offset Example
Example
© ABB Group
Square with Offsets
MM X
Example 100
Which quadrant will
the square be drawn?
75
1 2
50 1 2 3 4
25
100 75 50 25 -25 -50 -75 -100
Y MM
-25 pSTART
-50
3 4
-75
-100
From the previous example program:

pSTART
_____________is the FIRST point of drawing a square
and also the ____________point
LAST of the square.
© ABB Group
Debug
Program
Pointer (PP)
© ABB Group
PROGRAM FLOW INSTRUCTIONS
• IF ELSE
• GOTO
• FOR
• COMPACT IF
• TEST CASE
© ABB Group
COMPACT IF
IF reg1=1 MoveJ *,v500,z20,tool0;

• It executes a single instruction if a given condition is found to be true.
© ABB Group
IF ELSE
IF reg2=10 THEN
MoveJ *,v500,z80,tool0;
MoveL *,v1000,z50,tool0;
ELSE
MoveL *,v500,z20,tool0;
MoveC *,*,v500,z20,tool0;
ENDFOR
If a given condition is true it executes a set of instructions and if it is false then it executes
another set of instructions.
© ABB Group
GOTO
GOTO start;
………….
………….
………….
start:
On seeing the instruction the program pointer goes to the line containing the
label start.
© ABB Group
FOR
FOR x FROM 1 TO 10 STEP1 DO

…………
…………
………….
………….
ENDFOR
It is used to repeat a given set of instructions a fixed number of times.
© ABB Group
TEST
TEST reg1
Case 1: …………
…………
Case 2: ………….
…………
Case 3: …………
…………
ENDTEST
Executes set of instructions based on the integer values of a variable eg. reg1.
© ABB Group
COMMUNICATION INSTRUCTIONS
• TPWrite “TIME FOR THE CYCLE IS”,reg1;

• TPErase;
• TPReadNum reg2;
• TPReadFK
© ABB Group
TPWrite& TP Erase
• TPWrite instruction is used to write messages to the screen. Certain data values can also be
written.
• TPErase instruction is used to clear the screen.
© ABB Group
Eg:-
The decision is made by the operator/inspector.
© ABB Group
TP Read Num
TPReadNum nfigures, “How many figures do you want?
© ABB Group
TPReadFK
TPReadFK nFigure, “Is this a GOOD or BAD part?”, stEmpty, “GOOD”, stEmpty, “BAD”, stEmpty;
(1) 2 (3) 4 (5)
© ABB Group
CALIBRATION
© ABB Group
CALIBRATION
• An uncalibrated system.
© ABB Group
REVOLUTION COUNTER
© ABB Group
Updating Rev. Counters
1. Use the Joy stick and

Move the Robot to
the Calibration
Position and align
the witness marks.
© ABB Group
Updating Rev. Counter Procedure
1. Jog the robot to the witness marks / Calibration position.
2. Tap ABB : Calibration
3. Select the robot to be calibrated.
4. Tap Update Revolution Counter
5. Tap YES to confirm this is what you want to do.
6. If needed select the axes to be updated.
7. Tap Update and Update again.
© ABB Group
Checking Robot Calibration
• MoveAbsJ
– Create a new routine (GotoCalib)
– Insert MoveAbsJ instruction
– Choose star position, Edit / View Value, put all 6 axis to zero
© ABB Group
Fine Calibration
• Fine Calibration
– Tells the current angle of engine shaft when robot is in sync position
– Is tuned in by ABB or on site with special equipment
– Only needs to be retuned if a motor / gearbox is replaced
Requires special tools!

Cannot be made correctly
by eye Measurement.
© ABB Group
Edit Motor Calibration Offsets
• Type in the fine calibration values manually
• Use moc.cfg values from Backup, Silver label in back of manipulator with 6 values, or original
Motor Calibration values on floppy shipped with system.
© ABB Group
BACK UP
© ABB Group
BACKUP
© ABB Group
BACKUP
© ABB Group
Day4 Agenda
• I/O Configuration
• I/O Instruction
• Practice
© ABB Group
IRC5 I/O - System
I/O System includes
Field buses
IO-Definitions
I/O Configuration in RSO (Unit, Unit Type and Signals).
Unit Mapping
The Internals of an I/O Unit
Configuration Of Analog Signals
Access Level
Simple and Logical Cross Connection
I/O UNITS SUPPORTING DEVICENET COMMUNICATION
© ABB Group
Parts
Item Description
A Status LEDS
X1 Digital Output
X2 Digital Output
X3 Digital Input
X4 Digital Input
X5 Device Net Connector
Technical data
© ABB Group
Connector X1
Connection to X1
© ABB Group
Connector X2
Connection to X2
© ABB Group
Connector X3
Connection to X3
© ABB Group
Connector X4
Connection to X4
© ABB Group
Connector X5
© ABB Group
CONFIGURING THE I/O S
• Select CONTROL PANEL.

• Select CONFIGURATION OF SYSTEM PARAMETERS
© ABB Group

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ABB- Robotics, Bangalore

Basic Robot Training:

• Comprehensive range from 1kg to 650kg payload capacity

IRB 140 IRB 1410 IRB 1600

4kg 1.5m 5-20kg 1.5/1.8m 60kg 1.95m

90-200kg 3.0/3.9m 130-235kg 2.55/3.2m 150-500kg 2.55/3.5m

Cost effective solution - can serve several

Side mounted version

IRB 52 IRB 540 IRB 580/58

Process or Slim Arm Car Body Painter Paint Controller

IRB 5400 IRB 5500 IRC5P for paint

IRB 360 FlexPicker IRB 260 IRB 660

IRB 360/1-800 1kg capacity IRB 360/1kg capacity

Multi-robot control, up to 36 axis, with MultiMove

• An industrial robot is a programmable multi-functional, multi

Always avoid PINCH POINTS

• Built in emergency stop

Recover by resetting pushbutton and

• Option (this function can be activated in the parameters

• To avoid the risk of getting caught

• Hazardous power in both the cabinet and the robot

• The brakes on the robot motors can be manually released.

• A manipulator is an assemblage of rigid links connected by joints.

Manipulator Power cable

S4C 1996 - 2000

Run Chain Status

A robot can be operated in three different modes:

Contains drive system, axis

• Extension for more customer equipment space

Flush sides for reduced floor space

• One controller for up to 4 drive units

3-way joy stick

4 Hard keys for running programs

Jogging can be done in three modes:

TCP & Z,X

• Tool coordinate system

• Different examples of tools and TCPs.

Tool0 is always the

• Create a Tooldata on FlexPendant

Give tool a name.

TCP Default Orient

(q1)2+(q2) 2+(q3) 2+(q4) 2=1

• User Coordinate System

• Define coordinate systems

Figure drawn in a work object

• Activate the measuring tool

x1 Work object axis Y

Work object axis X

•Tap New Program:

•Tap Load Program:

•Tap Save Program as:

• A folder with the program name is created

Then choose new

LINEAR interpolation is the most accurate motion between two points.

This robtaget can be copied and pasted

MoveL p30, v300, z30, tool0;

Step to the move

Jog the robot to

Event Messages are divided into.

Scroll the list with the yellow arrows

Move_ Offs(pStart,-100,0,0), v500, fine, toolx;

Which direction will

From the previous example program: